Dimension Mismatch When Computing Mass Matrix with fix_base_link = true


I’m facing a problem while employing the asset_option.fix_base_link = true. I encounter a dimension mismatch issue when attempting to compute the mass matrix by multiplying the linear jacobian with the mass of my links and the rotational jacobian with their inertias.

The size of my jacobians is one less than that of my mass matrix. Could you help me figure out what I’m overlooking? Should I exclude the first link when determining the masses and inertias?


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