rbdl
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rbdl
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNE...
Hello I want to use function forwardDynamics and my model has f_ext.In the official document, it says that f_ext is in base coordinates. So base coordinates is the same as...
Hi, Is there any way to obtain the G matrix of the 8.8 Featherstone's? I didn't find anything in the code but maybe I am missing something. In other words,...
Hi, I have fixed the bugs or typos mentioned in the - Fixed the bug described in [issue #85 ](https://github.com/rbdl/rbdl/issues/85). and I have tested them. I believe it will solve...
Hello, I'm trying to use the Python wrapper to compute the point jacobians for an A1 Quadruped represented in the URDF attached below. [a1_description.zip](https://github.com/user-attachments/files/15854942/a1_description.zip) I find that the results for...
Is there a way to calculate the derivative of the Jacobian?(Jdot)
Hello! During our testing, we found that the loading of a partial model failed at one instance with a segmentation fault and at another end when a duplicated body is...
RBDL Version: 3.3.1 The Quaternion::from Matrix method can fail to provide the correct quaternion given the rotation matrix. For example, if we compare the Eigen library to RBDL when converting...
Rbdl's .urdf parser converts revolute joints to helical if any of the joint axis values is negative. Here is a minimal .urdf example and code to reproduce: .urdf: ``` ```...
I am wondering if we could get the model of the robot while changing some joints to the type "Fixed". This way we could place these joints in a default...
Currently, I am loading a URDF file, setting it as a floating base, and analyzing a quadruped robot. However, when loading the URDF as a floating base, the quaternion's w...
