Closed 304x closed 3 weeks ago
Hi, I have a question regarding the mass/inertia matrix you receive from the franka::model.mass() function. Is it the matrix in joint space or in Cartesian space?
Hi there :) Apologies for the late reply. The mass/inertia matrix is in joint space. Have a great day!
Hi, I have a question regarding the mass/inertia matrix you receive from the franka::model.mass() function. Is it the matrix in joint space or in Cartesian space?