frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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inertia matrix franka::model.mass() #146

Closed 304x closed 3 weeks ago

304x commented 11 months 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?

winkma commented 3 weeks ago

Hi there :) Apologies for the late reply. The mass/inertia matrix is in joint space. Have a great day!