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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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Parallel springs on joints #1866

Open jameswzhu opened 1 year ago

jameswzhu commented 1 year ago

Hello,

I'm wondering if Pinocchio supports parallel springs on the joints, like in the SDFormat spring_stiffness and spring_reference attributes. If so, how is this stored in the Pinocchio model?

Thanks and keep up the good work!

jcarpent commented 1 year ago

Dear @jameswzhu,

The plan is currently to add full support of SDF features in Pinocchio 3x. Best, Justin