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Spotted by @oliwiermelon
Is there a reason the mass of the root link is ignored in the `computeTotalMass` and `computeSubtreeMasses` algorithms?
E.g. here the iteration starts with the 1st inert…
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Dear Erwin and PyBullet authors,
If the inverse dynamics via Recursive Newton-Euler Algorithm (RNEA) is in summary performing:
torque = H(q) qdd + C(q, qd) qd + G(q)
where q is joint position, qd…
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I'm finishing a task for the master I'm doing and I need this information as soon as possible. I have to create a PD control loop with gravity compensation (i.e. g(q)), I have read that it can be obta…
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Hi @andreadelprete ,
I want to implement a Cartesian constrain inside TSID, to be able later to perform a constraint on the convex hull (a cartesian constraint on CoM).
I have taken a look at t…
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Hi all,
Just a quick question regarding the orientation and frames that you're using in Pinocchio. Since you're using Featherstone notation, this allows for both the 'world' frame and 'body' frame …
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Sorry for a newbie question.
I'm trying to use Pinocchio to drive a walking robot (both simulator and real) walking on uneven terrain.
I'm not sure what would be the rigth thing to do when foot co…
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### Preamble
Since when we started writing iDynTree, one of the core ideas was to rely on KDL data structures (such as `KDL::Vector`, `KDL::Twist`, `KDL::Wrench`, `KDL::Joint`, `KDL::Tree`, etc, etc,…
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Hi again,
When I use the computeCoriolisMatrix function in RNEA, I get the following error:
> vision60: /opt/ros/melodic/include/pinocchio/spatial/symmetric3.hpp:419: pinocchio::Symmetric3Tpl …
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Hi !
I would like to use the `rnea` algorithm with the external forces in python.
The binding of the method `rnea(Model, Data, Configuration q, Velocity v, Acceleration a, External forces f)` does e…
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After updating Pinocchio to the latest devel branch, I found a problem in the loading of a Pinocchio model. For instance, if I run the following code
```python
import pinocchio
from pinocchio.robot…