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I am trying to use pinocchios [rnea](https://github.com/stack-of-tasks/pinocchio/blob/5daf5de1c158363e835d322435bab4aa2f9b9b0b/src/algorithm/rnea.hpp#L55) to compute the needed feed forward torques fo…
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## 🐛 Bug report
### Current Behavior
Calling `Task.traverseArray` on a `ReadonlyNonEmptyArray` returns a `ReadonlyArray`.
### Expected behaviour
That it returns a `ReadonlyNonEmptyArray`.
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I use python api to compute the gravity and the result is [-0.11936972 0.98543975 0. 0.9855705 0.03554471 -0.05846138]. That's what I expected.
```python
q = np.asarray([0, 0, 0, 1.57, …
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I have a question about this program.
In urdf2casadi/examples/user/ur5_example.ipynb, the dynamic parameters are written as To obtain the dynamic parameters (M, C, G) of the equation of motion tau = …
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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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## 🐛 Bug report
Array.chunksOf could return Array
### Current Behavior
```ts
export function chunksOf(n: number): (as: ReadonlyArray) => ReadonlyArray {
const f = chop(splitAt(n))
retu…
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I'm compiling with codegen enable by running:
```
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DPYTHON_EXECUTABLE=/usr/bin/python3 -DBUILD_WITH_AUTODIFF_SUPPORT=ON -DBUILD_…
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Hi, I noticed when the urdf links contain non-zero ixz, ixy or iyz values, the C vector starts to deviate from what I get from KDL and other other libraries. You might wanna check this.
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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,
I'm trying to compute the coriolis matrix for a floating-base system, and I get the following error:
`/opt/openrobots/include/pinocchio/spatial/symmetric3.hpp:418: pinocchio::Symmetric3Tpl pin…