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erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
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Get Coriolis matrix #22

Closed ad1t7a closed 4 years ago

ad1t7a commented 4 years ago

Is there a way to get the coriolis matrix using this approach? I realize that we can get the "C(q, qdot) * qdot" term using the inverse dynamics function, but is there a way to isolate just the C(q, qdot) matrix?

erwincoumans commented 4 years ago

It is not implemented yet.

ad1t7a commented 4 years ago

Thanks for the update!