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First, I would like to thank you all a lot for your great open source work and implementation.
The analytical derivatives of the dynamics are a very valuable feature of the library.
Is there a way…
Leph updated
3 months ago
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Hi,
I would like to ask how can I analytically compute the second-order derivative of the generalized static torque wrt the configuration vector q.
```math
\tau = g(q) - \sum J(q)^T f_{ext}
```
…
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Hello,
I'm using casadi and pinocchio for trajectory optimization. From the test codes below, I saw casadi works for pinocchio::integration function.
```cpp
ConfigVectorAD q_ad(model.nq), v_int…
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All our Rigid Body Dynamics Algorithms have been implemented either using plain `for` loops (that are unrolled during JIT compilation incurring in long build times) or `jax.experimental.loops` (that p…
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Hello,
I am working on a controller for the TIAGo based upon the package [pal/gravity_compensation_controller_tutorial](https://github.com/pal-robotics/gravity_compensation_controller_tutorial), an…
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## Bug description
I have an urdf that contains two independent identical manipulators. I noticed that `getJointJacobian` works weirdly for independent robots
## Reproduction steps
`C++` code…
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Hi,
This is a question about the inconsistencies between crba() and rena(). I used two ways (rnea and crba) to calculate `tau`, but the result was inconsistent:
1. tau = rnea(model, data, q, v, a, e…
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Hi, I encountered a compilation error when I try to compile the c++ code on ubuntu 18.04:
` /opt/openrobots/include/pinocchio/parsers/urdf/geometry.hxx:256:7: error: template-id ‘getLinkGeometry’ f…
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I have a question that probably comes down to some frame convention that I'm missing.
I have a point mass URDF:
```
`…
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According to the build from source in Installation Procedure,I installed pinocchio 2.6.4 under ubuntu 18.04. But when I run the example,an error occurred.
In the function ‘pinocchio::ModelTpl<
doub…