Closed ghost closed 2 years ago
Yes, you can compile Pinocchio Python bindings with Casadi support. It will enable you to work with any robot and express the graph for all the implemented algorithms. Please look at this branch: https://github.com/stack-of-tasks/pinocchio/tree/pinocchio3-preview
is it supported by pinocchio 2.9.1 to export the casadi symbolic expression of dynamics, i.e., aba, rnea ...?