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How to compute dot_J_c? #84

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JackLiujie opened this issue Apr 19, 2022 · 0 comments
Open

How to compute dot_J_c? #84

JackLiujie opened this issue Apr 19, 2022 · 0 comments

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@JackLiujie
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JackLiujie commented Apr 19, 2022 •
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We have dot_x=J_c * dot_q. Derivative it , we have ddot_x=dot_J_c * dot_q+J_c * ddot_q. And in the WBC approach, dot_J_c is also needed. I want to know how to compute dot_J_c in the program? Thank you very much !
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