Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Get the Constraint Matrix G for model with mimic joints. #2602

Open
MegMll opened this issue Mar 3, 2025 · 0 comments
Open

Get the Constraint Matrix G for model with mimic joints. #2602

MegMll opened this issue Mar 3, 2025 · 0 comments
Labels
feature request

Comments

@MegMll
Copy link
Collaborator

MegMll commented Mar 3, 2025

Mimic joints in pinocchio were implemented following explicit constraints. (see Rigid Body Dynamics, chapter 10, Roy Featherstone)

Adding a function to get the constraint matrix G that allows to transform data, such as mass matrix, from full model to mimic model.
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
feature request
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@MegMll