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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
1.78k stars 375 forks source link

Tutorial link cannot be opened #710

Closed ddliu365 closed 5 years ago

ddliu365 commented 5 years ago

On the website(https://stack-of-tasks.github.io/pinocchio/) the tutorial cannot be opened

See this link http://projects.laas.fr/gepetto/doc/stack-of-tasks/pinocchio/master/md_doc_d-labs_1-directgeom.html

nim65s commented 5 years ago

Thanks for the report, I will fix this shortly

ddliu365 commented 5 years ago

Is there a walking tutorial about Pinocchio?

jcarpent commented 5 years ago

The walking tutorials are old now. They will need a serious refresh.

ddliu365 commented 5 years ago

Are these tutorials in the repository?

I just would like to calculate the M inertia matrix in the equtation

gif latex

Is there a function which can calculate this matrix after importing the Urdf model in Pinocchio?

jcarpent commented 5 years ago

You can use:

data = model.createData()
pin.crba(model,data,q)

where q is your configuration vector.

jcarpent commented 5 years ago

@ddliugit I think the problem is now solved. To no hesitate to reopen this issue if needed.

ddliu365 commented 5 years ago

The tutorial is closed. Can you open it

ddliu365 commented 5 years ago

The website is closed.

nim65s commented 5 years ago

https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_d-practical-exercises_1-directgeom.html seems OK for me.

nim65s commented 5 years ago

Oh, your link was wrong, and I fixed it without noticing, sorry.