Can I get this F matrix in Pinocchio

[BolunDai0216]

Hi,

I want to get the $\mathbf{F}$ matrix from this equation

$$\mathbf{f} = -\Big(\mathbf{J}_p(\alpha)^T\Big)^\dagger\Bigg(\tau + \mathbf{h}(\alpha) + \mathbf{F}^T\begin{bmatrix} \dot{\omega}\\ \dot{v} \end{bmatrix}\Bigg)$$

where $\mathbf{J}_p$ is the Jacobian, $\mathbf{h}$ is the Coriolis terms, $\tau$ is the joint torque, and $\mathbf{F}$ is the matrix of spatial forces required at the floating base to support unit accelerations about each joint variable (See Eq.9.12 in Featherstone book or Eq.15 of VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots).

Is it possible to obtain this using pinocchio?

Thanks in advance!