pinocchio的动力学参数计算

import pinocchio as se3
# 使用pinocchio as pin 代替se3依然可行
 
q = rand(robot.model.nq)
vq = rand(robot.model.nv)
aq0 = zero(robot.model.nv)
# compute dynamic drift -- Coriolis, centrifugal, gravity
b = se3.rnea(robot.model, robot.data, q, vq, aq0)
# compute mass matrix M
M = se3.crba(robot.model, robot.data, q)

M：质量矩阵

b：偏置