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jarllarsson / promenade

Code repository for Master's Thesis: "Performance of Physics-Driven Procedural Animation of Character Locomotion For Bipedal and Quadrupedal Gait"
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Gravity Compensation is only applied for the foot, not every link. #14

Closed jarllarsson closed 9 years ago

jarllarsson commented 9 years ago

Gravity compensation is only calculated for the Jacobian of the foot. The resulting torque is applied for all links. What I interpreted wrong here is that I apply this torque additively to the links, when I should had calculated new Jt for each link and applied the torque to all its parent links.

jarllarsson commented 9 years ago

solved 0188cb6b0d41af8e842b60061dc275909bfa9512