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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"
…
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I need to compute the derivatives of the impulse dynamics, i.e of the function:
i(q,dv) = M(q) dv + J(q)^T f
I need the derivative of i with respect to q di/dq.
i(q,dv) can indeed be computed fro…
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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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Hey,
I tried to use pinocchio to construct regression matrix and extract dynamic parameters from urdf files.
https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_b-e…
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Hi, I've been trying to use the code generation features and have found that for some reason I can only get them to support a ```Scalar``` of type ```double```. Is there any way to get them to accept …
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Hi,
I would like to use the Pinocchio library on a windows system since I would like to generate a custom dll using the library for further use in my project. The documentation provides clear instr…
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Dear all,
I have built a C++ "library" which generates CasADi's symbolic expressions for robot dynamics, kinematics, joint torque regressor, generalized gravity, etc, from a URDF file. This librar…
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I write an example of solving inverse kinematics by Python, The command can be executed when there is no external force. However, when there is an external force, the command prompts an error. Some …
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is it supported by pinocchio 2.9.1 to export the casadi symbolic expression of dynamics, i.e., aba, rnea ...?
ghost updated
2 years ago
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Hi I am trying to call this [inverse dynamics rnea function ](https://github.com/stack-of-tasks/pinocchio/blob/5daf5de1c158363e835d322435bab4aa2f9b9b0b/src/algorithm/rnea.hpp#L55) with some external f…