Closed qwq321qwq closed 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.
Hope the description is a little easier to follow now.
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