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Assertion `isUnitary(R.transpose()*R) && "R is not a Unitary matrix"' failed. When running the CRBA algorithm.
Hello,
I have checked the issues related to transforming the joint space to a configu…
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While working on https://github.com/ami-iit/idynfor/pull/26, I tested the pinocchio Model building API with many randomly generated models. While doing that, I noticed that:
~~~
auto dataPin = pinoc…
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I use two ways to calculate $\tau$
* RNEA
* Equations of motion (EOM): $Ma + nonLinearEffects = \tau + J^Tf_{ext}$
but results was different. A part of implementation is follow
```python
..…
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In branch `pinocchio3-preview`, `rotor_inertia` is equal to `mass`, such as
https://github.com/stack-of-tasks/pinocchio/blob/0d53f26acdf9a0b5740b88145f624b11d97f40f9/src/parsers/srdf.hxx#L173
Is…
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Hi,
Pinocchio version : 2.6.8 installed from Conda
CppAD: v20220705, CppADCg: v2.4.3
code:
```cpp
//
// Copyright (c) 2018-2019 CNRS INRIA
//
#include "pinocchio/codegen/cppadcg.hpp"
…
ghost updated
2 years ago
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Channel range and group tools were created for the the first coldbox run period (Nov 2021 - June 2022) but the CRPs are very different for the new CRPs (CRP2, CRP3, ...) and we need a new tool to desc…
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Hi,
Thanks a lot for the framework !!
Sorry for my following dumb question:
I did some examples in python with different controller for the kinova jaco 2 spherical (6 dof) and know I compiled ever…
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Currently we can load the rotor parameters inside Pinocchio, but they are not used anywhere in the algorithms.
As a result, forwardDynamics, and ImpulseDynamics are useless if you need the armature, …
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Is there a function in Pinocchio that supports taking derivatives of the inertia matrices?
I want to verify whether dM/dt-2*C (C is the first kind Christoffel) obtained by Pinocchio satisfies the ant…
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Hi, first of all, thanks for developing such a great tool. I'm trying to use the rnea(model, data, q, v, a, fext) function to compute inverse dynamics of a quadruped robot. The documentation says fext…