Add helpers function to check model validity

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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Add helpers function to check model validity #2134

Open jcarpent opened 8 months ago

jcarpent commented 8 months ago

Essentially, this new feature will help to investigate numerical issues with certain models that contain ill-posed quantities (inertia values, etc.)—related to #2133.