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cmm-21 / a2

Assignment 2 - Kinematic walking controller
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Calculation of Analytic Jacobian #16

Closed PanagiotisAnagnostaras closed 3 years ago

PanagiotisAnagnostaras commented 3 years ago

Hey everyone, I try to do the analytic jacobian but I have some questions: body

Don't we need to know the lengths of the links and which q corresponds to each joint, or obtaining this info from the provided code is part of the assignment with reverse engineering?

eastskykang commented 3 years ago

Please do not hard code length of links. Your implementation should be general to be used for "any" kind of kinematic tree.

You can access position of joint w.r.t. parent rigid body's coordinate frame by joint->pJPosand position of joint w.r.t. child rigid body's coordinate frame by joint->cJPos

Hope this helps!

eastskykang commented 3 years ago

More detailed instruction was given in the last tutorial session. It will be uploaded to the course website shortly.

Hope this helps!