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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
1.8k stars 379 forks source link

bipedal static contact dynamics example #2023

Open imrobot2000 opened 1 year ago

imrobot2000 commented 1 year ago

Hey! Thank you so much for the absolutely amazing library! I am trying to modify the static contact dynamics example to work with talos so better understand the example. I can get it to work with anymal but it doesn't pass the checks on bipedal example robots. I make sure to swap out the joint names and base link, but there is generally a large error in the contact forces and joint torques. Is there something I missed?

Again thank you so much for your hard work!

jcarpent commented 1 year ago

Hi @imrobot2000,

Thanks for your great and well-appreciated feedback on using Pinocchio. In order to properly answer your question, could you provide a tiny example in Python for easy validation? Could you also provide your current version of Pinocchio?

Thanks in advanced, Best,

Justin