novaphy.mass_matrix_crba

Legacy documentation page retained for older links.

The current top-level public API does not advertise the list-based mass_matrix_crba(joints, bodies, q) helper. Use eval_mass_matrix() with a finalized Model and SimState instead:

H = novaphy.eval_mass_matrix(model, state)

See Also

• eval_jacobian()
• SolverFeatherstone