get_mass_matrix(q, include_rotors_inertia=False)
Returns the mass (inertia) matrix of the robot at the specified joint positions. Optionally includes the inertia of the motor side of the gear.
Parameters
q: (Optional) List of joint positions. If not specified, uses the current robot joint positions.
include_rotor_inertia: (Optional) If True, includes the inertia on the motor side of the gear. Default is False.
Return Value
The mass matrix.