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inertia matrix franka::model.mass() #146

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304x opened this issue Dec 18, 2023 · 1 comment
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inertia matrix franka::model.mass() #146

304x opened this issue Dec 18, 2023 · 1 comment

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@304x
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304x commented Dec 18, 2023

Hi,
I have a question regarding the mass/inertia matrix you receive from the franka::model.mass() function. Is it the matrix in joint space or in Cartesian space?
@winkma
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winkma commented Nov 4, 2024

Hi there :)
Apologies for the late reply. The mass/inertia matrix is in joint space.
Have a great day!

@winkma winkma closed this as completed Nov 4, 2024
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@304x @winkma