Question on pinocchio::computeCoriolisMatrix

[xiaosuyang]

Hello. When I use pinocchio::computeCoriolisMatrix(robot.m_model,data,q,v), there is a assertion that:

It seems that the quaternion of q has some problem, but there is no problem when I use pinocchio::computeGeneralizedGravity(robot.m_model,data,q). How can I fix it?

[xiaosuyang]

Can I use pinocchio::NonlinearEffect to replace pinocchio::computeCotiolisMatrix and pinocchio::computeGeneralizedGravity?

[fabinsch]

Hi @xiaosuyang, indeed there seems to be a problem with your q. You could use Pinocchio's helper functions to make sure a configuration is valid by

q = pin.normalize(model, q)

I hope this helps.