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### Describe the bug
The stylesheet for `plot` sets `max-h-80`. This does cut off some plots because the `object-contain` attribute on the the image only works for `h-XX`.
### Is there an existing …
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Hi,
This is a question regarding the computing speed of Pinocchio. I'm developing a Operational Space Controller. However, I'm having issues in
According to the Pinocchio the technical [paper]…
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Dear pinocchio developers,
first of all, thanks a lot for developing this library and providing it as open source to the robotics community. Both the performance and the ease of use are really impr…
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Hi,
Is there a method to get the current joint configuration from `data`? At least I did not find any obvious method in the `data` interface.
In addition, I'm wondering if the current joint confi…
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Hello,
First of all, I appreciate your effort to maintain this nice repo.
I have a quick question about how Pinocchio updates the robot's properties.
It looks like Pinocchio has multiple steps to…
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Hi,
I'm trying to visualize the center of mass of each link. However, it seems that this information is not available.
I'm aware that using the function `centerOfMass()` I can obtain the full …
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Dear all,
First of all, I would like to thank you very much for your wonderful repository. I heavily use pinocchio for optimal control of robots.
I have a question and a wish on the getKKTContac…
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Hi, I'm wondering where I can read more to understand why the inertia matrix I calculate using `pinocchio::crba(model,data,q)` is not symmetric. I dug into the unit tests a little and I see that in th…
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Hi,
I am trying to use Pinocchio to calculate the combined, full-body inertia of an articulated body which accounts for the floating base and the end-effectors, in their nominal configuration from…
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Hi,
it seems that pinocchio offers different ways to compute forward dynamics and M inverse. For the forward dynamics we have:
* aba: algorithm for forward dynamics
* cholesky::decompose + choles…