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Digital-Humans-23 / a1

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Do not use getRotationAngle(qRel, axis) #9

Closed bottad closed 1 year ago

bottad commented 1 year ago

Do not use the member function of the joint class to get its current rotation as it does not return the updated angle.

eastskykang commented 1 year ago

Thank you @bottad.

Yes, I'd better to mention this. The GeneralizedCoordinatesRobotRepresenetation does not automatically synchronize q and qdot with the robot.

That means, for computing Jacobian with FD, you should not use current joint angle retrieved from the robot by getRotationAngle(qRel, axis) but rather, you have to retrieve it from the member variable q.

It's better for you to stick to use helper functions and member variables of GeneralizedCoordinatesRobotRepresenetation when you implement FK, and Jacobians.