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To use the meshcat visualization tool for a real-time visualization/experiment replay, pinocchio library needs to be installed in a conda environment through conda-forge. This could prevent rebuilding…
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In GitLab by @wxmerkt on Oct 10, 2019, 14:57
I've added `1e-12` damping to every action model as follows (in `quadruped.py`):
```python
dmodel = crocoddyl.DifferentialActionModelContactFwdDynamics(s…
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[A (somewhat) easy pen&paper example of the Pinocchio protocol](https://drive.google.com/file/d/0B-WxC9ydKhlRZG92dnJ0RmdWRkZKUXR5Q3FTd0pZMl9Tdnln/view)
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Hi, I am comparing the kinematics function provided in the code with the one provided by a1.urdf (attached). For example, using the following joint values:
```
q
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Hi, I think this question has been asked previously and there were some answers. I want to go from my urdf file to Casadi SX robot equations. As far as I understand, it might be possible to do with pi…
UM-A updated
10 months ago
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Split the project into smaller parts:
- pinocchio-headers
- pinocchio-parsers
- pinocchio-fcl
- pinocchio-algorithms [template instantiation with double]
- pinocchio-algorithms-casadi [template…
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opt/ is a bit messy right now; inconsistent use of private, and some documentation is missing. Also consider splitting declaration and definition into .hpp and .hxx files like pinocchio does.
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**Describe the bug**
Given the model with foreignKey:
`Toy --(builder)--> Person`
With related name:
`Person --(toys_built) --> Toy`
Defined with this code:
```
class Toy(tortoise.m…
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the floating base velocity is represented in the WORLD frame with `JointModelTranslation` and `JointModelSphericalZYX` as root joint
[ref](https://github.com/stack-of-tasks/pinocchio/issues/2177#issu…