Closed oliwiermelon closed 4 years ago
Hi @oliwiermelon,
The best solution would be:
crba(model,data,q)
Thank you @jcarpent, it is exactly what I needed!
Note: data.Ycrb[1].inertia
Note:
data.Ycrb[1].inertia
In Python ;). In C++, data.Ycrb[1].inertia()
.
Hi,
I am trying to use Pinocchio to calculate the combined, full-body inertia of an articulated body which accounts for the floating base and the end-effectors, in their nominal configuration from a URDF for a Single Rigid Body Dynamics (SRBD) model.
I am aware of the CRBA algorithm which produces the joint-space inertia matrix (n x n). I am looking for a function/approach that: