How to get operation space dynamic?

[skywoodsz]

Hi, I want to design an impendance controller. Therefore, I want to get operation space dynamic, e.g. cartesian inertia matrx, cartesian coriolis and centrifugal matrix. How can I get them using pinocchio? Thanks!

[jcarpent]

You can easily use all the routines and algorithms provided by Pinocchio to write down your operational space dynamics.

[skywoodsz]

Does this mean that Pinocchio does not provide related functions?
Need customers to write their own program calculation?

[jcarpent]

We could think of adding some basic features in the near future, but currently, we have chosen to perform task-space control within an external library such as TSID. This choice is to simplify the deployment as Pinocchio end-users might not need such formulation, which often requires an external QP solver such ProxQP to solve the task.
What are your needs @skywoodsz?