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stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
http://stack-of-tasks.github.io/pinocchio/
BSD 2-Clause "Simplified" License
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Computing the dynamics via RNEA #1602

Closed JunningHuang closed 2 years ago

JunningHuang commented 2 years ago

Hey,

I tried to use pinocchio to construct regression matrix and extract dynamic parameters from urdf files. https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_b-examples_c-dynamics.html#autotoc_md40, from the above link, it seems you plan to provide an explicit way to compute the inverse dynamics via Netwon-Euler equation, are you going to release this example recently?

Thanks and best wishes

jcarpent commented 2 years ago

What do you want to do exactly @JunningHuang?

jcarpent commented 2 years ago

Otherwise, you can do inverse dynamics as tau = rnea(model, data, q, v, a, fext).