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Thanks for the plugin, learnt a couple of things already with it.
`O.fromPredicate((array) => array.length > 0)` could be replaced with `RNEA.fromArray`/`RNEA.fromReadonlyArray` (found a few usages…
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Find why Pinocchio give slightly wrong values compared to RBDL. Horizontal placements of the arm breaks the gravity compensation (pinocchio::rnea()) with Pinocchio, but not with RBDL.
Pinocchio:
`…
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This is a meta issue to consolidate problems with MAP human dynamics estimation. The following items are problematic and need checks. (@naveenoid)
- [ ] Check Y, y generated from RNEA (in checkRNEA i…
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This is an issue to track Drake::MBP vs alternatives (currently Pinocchio). This example is on a Cassie URDF. Some comments on the plant:
- Does not include loop closure
- Does not include contact…
mposa updated
2 years ago
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Dear all,
I have the following code which is sub-optimal:
```
robot_t::confVector torques;
for (unsigned frameId = 1; frameId < animatedMesh_->numFrames () - 1;
++frameId)
{
metapod::rnea::r…
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It is useful to compute the Coriolis matrix in a numerical efficient manner. Two initial references are :
* [On the closed form computation of thedynamic matrices and their differentiations](…
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Hello!
I would like to thank you and your team for the Pinocchio library. I used Pinocchio 2.99.0 from this conda package: [package](https://anaconda.org/olivier.roussel/pinocchio)
I have a model wi…
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Hi,
I have been working with Reachy's URDF file in conjunction with the Pinocchio library for torque estimation within the joints. However, when using Pinocchio's Recursive Newton-Euler Algorithm (…
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I use Pinocchio to compute inverse dynamic of UR5 robot. My code is as follows.
import toppra as ta
import toppra.constraint as constraint
import toppra.algorithm as algo
import numpy as np
imp…