Official Python bindings with a focus on reinforcement learning and robotics.
2 posts • Page 1 of 1
I wonder if calling calcuateInverseDynamics will give me the centrifugal force term in the generalized coordinate system. Maybe my questions is completely off the chart, but the reason why I have this questions is because by reading the resource code of the stable PD control, it makes me think this is the case.
I think I figured it out. When acceleration is zero, total force will be equal to centrifugal force from reduced coordinate system.