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mahaarbo / urdf2casadi

Python library for getting a casadi function for the forward kinematics of a URDF chain
MIT License
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[question] a matrix calculating question #12

Closed qwq321qwq closed 3 years ago

qwq321qwq commented 3 years ago

I have a question about this program. In urdf2casadi/examples/user/ur5_example.ipynb, the dynamic parameters are written as To obtain the dynamic parameters (M, C, G) of the equation of motion tau = M(q)q_ddot + C(q, q_dot)q_dot + G(q). But the example shows C(q, q_dot) is a 61 matrix and wo know q_dot is a 61 matrix. So how does it work? Thanks for your answers! orz @mahaarbo @lillmaria

mahaarbo commented 3 years ago

Hi, sorry for the late reply. The get_coriolis_rnea function actually produces the Coriolis bias vector, not the Coriolis matrix. I will update the example with the proper descriptions of how the dynamic parameters are obtained shortly.

mahaarbo commented 3 years ago

Hope the description is a little easier to follow now.