Open tractormaster4596 opened 2 weeks ago
in this file :mpc_controller /raibert_swing_leg_controller.py , at line 181 twisting_vector = np.array((-hip_offset[1], hip_offset[0], 0))
I can not understand why do this process, and why the vector like this -hip_offset[1], hip_offset[0], 0, can anyone help me?
Explanations and links to papers are all fine.
in this file :mpc_controller /raibert_swing_leg_controller.py , at line 181 twisting_vector = np.array((-hip_offset[1], hip_offset[0], 0))
I can not understand why do this process, and why the vector like this -hip_offset[1], hip_offset[0], 0, can anyone help me?
Explanations and links to papers are all fine.