"f_ext" parameter, incomplete implemented?

mahaarbo / urdf2casadi

Python library for getting a casadi function for the forward kinematics of a URDF chain

MIT License

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"f_ext" parameter, incomplete implemented? #23

Closed nashmit closed 6 months ago

nashmit commented 2 years ago

If one tries to use: get_forward_dynamics_aba(...,f_ext ) gets the following error:

Traceback (most recent call last): File "..\FeatherstoneDynamics_Test.py", line 28, in <module> qddot_g_sym = robot.get_forward_dynamics_aba(root_link, end_link, gravity = gravity,f_ext=[0,0,0,0,0,0]) File "..\FeatherstoneDynamics.py", line 535, in get_forward_dynamics_aba pA = self._apply_external_forces(f_ext, pA) TypeError: _apply_external_forces() missing 1 required positional argument: 'i_X_p'

mahaarbo commented 1 year ago

Sorry for the very late reply, I haven't worked on urdf2casadi for quite some time as you may have noticed, and it is likely that there is an error there. If you have a pull request that fixes it I can review and merge, but unfortunately I don't have time to go through the implementation and fix the error myself.