vincekurtz / quadruped_drake

Using Drake to Simulate and Control Quadrupedal Robots
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why inverse_dynamics_controller.py line 31 mul 1/2? #9

Open codedetermination opened 1 year ago

codedetermination commented 1 year ago

line32:# Put in the form 1/2qdd'Qqdd + c'qdd I think it should be qdd'Qqdd + c'*qdd , if mul 1/2 it may different form the code below.(apologize for my poor english)