pinocchio

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C(q,v)v+g(q) ≠ nonLinearEffects

1

## C(q,v)v+g(q) ≠ nonLinearEffects When I use `JointModelSphericalZYX` as part of floting joint, the result C*v+g is not equal to nonLinearEffects (nle). ## Expected behavior $$C(q,v)v+g(q) = nle$$ ### Code...

matheecs

Hi guys, I am trying to understand Pinocchio's design choice when comes to parsing and saving XML files. My primary goal is to generate a URDF XML file/object from a...

cmastalli

How to set security_margin and find min_distance

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Hi, I'm tying to set security_margin and find min_distance. But I'm not confident with the numbers I'm getting This is my current code `// Add all possible collision pairs collision_model.addAllCollisionPairs();...

jessicaleu24

Solve a problem of loading a SDF file with a kinematic loop constraint

2

Hey, can I use the pinocchio3-preview version to load a SDF file with a kinematic loop constraint? If it does work, is there any demo. Thanks a lot.

XiaoWZENG

### Discussed in https://github.com/stack-of-tasks/pinocchio/discussions/2016 Originally posted by **nicehiro** July 20, 2023 Hi, everyone, I found that the pinocchio is checking `limit` of joint to do planning. Is it possible to...

jcarpent

bipedal static contact dynamics example

1

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...

imrobot2000

Panda3 example is outdated

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In example files [examples/panda3d-viewer-play.py](https://github.com/stack-of-tasks/pinocchio/tree/master/examples/panda3d-viewer-play.py) [examples/panda3d-viewer.py](https://github.com/stack-of-tasks/pinocchio/tree/master/examples/panda3d-viewer.py) pinocchio's syntax is outdated. `loadTalos` seems to be replaced with `TalosLoader`. Yet, the interface of the resulting model looks very different from that example. [(outdated...

KushnirDmytro

AjSat

Parallel springs on joints

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Hello, I'm wondering if Pinocchio supports parallel springs on the joints, like in the SDFormat `spring_stiffness` and `spring_reference` attributes. If so, how is this stored in the Pinocchio model? Thanks...

jameswzhu

module 'pinocchio.pinocchio_pywrap_default' has no attribute 'buildModelFromSdf'

8

Greetings, I am trying to load a SDF model using the Pinocchio 3 Python bindings: `model, collision_model, visual_model = pin.buildModelsFromSdf(sdf_model_path)` However, I receive the following exception: `Exception has occurred: AttributeError...

jameswzhu