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The compute_inertia function is extremely slow. Considering many urdf files already include mass and inertia, it would be nice to have a flag that skips this process.
Also, maybe it should use warp methods instead of numpy?
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compute_inertiafunction is extremely slow. Considering many urdf files already include mass and inertia, it would be nice to have a flag that skips this process.Also, maybe it should use warp methods instead of numpy?
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