Regarding the Jacobian calculation part in Legcontroller.cpp, can I get the exact matrix of the relevant calculation?

DRCL-USC / Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

https://youtu.be/NcW-NFwjMh0

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Closed HBUTHUANGPX closed 11 months ago

junhengl commented 11 months ago

Yes, you can refer to the Matlab version for derivations.

HBUTHUANGPX commented 11 months ago

thanks