Giuseppe L'Erario

I was with @CarlottaSartore and she told me that another possible parser could be [urchin](https://github.com/fishbotics/urchin). What's your opinion?

Hi @tommasoandina1! As @traversaro said, **adam**, by default, returns the floating-base mass matrix. To have the mass matrix of a fixed-base robot you cannot find a better answer than @traversaro's...

Hi, it seems you are using at first symbolic types `cs.sx` and then converting the output of the function (which is an sx) in a numeric type `cs.dm`, precisely here...

From https://github.com/tommasoandina1/Doosan_h2515/blob/main/doosan.ipynb the output is the expected one. > I'm only receiving variable values, not numerical ones Since you are using `cs.SX`, that's correct. Also the mass matrix output is...

The mass matrix depends on the robot configuration, namely $q:=(H,s)$. You have the inertial parameters from the `urdf` that are numbers, but you have the robot configuration that is symbolic....

Hi @tommasoandina1 ! I didn't get the question. What do you mean for mean error and heat from the Lagrangian? For getting the mass matrix for a manipulator you should...

Yup you can do it! Just pass numerical values to the functions ;) Use `cs.DM` or `numpy`.

Hi @tommasoandina1, I didn't exactly get the problem. Can you elaborate more?

Hi @tommasoandina1, sorry for the late reply. I did not get exactly. Can you elaborate more?

I guess this can be closed!