dimension of data.qm(inertia in joint space)

Discussion in 'Simulation' started by foolyc, Jan 24, 2018.

  1. foolyc

    foolyc

    Screenshot from 2018-01-25 11-05-45.png
    while the dimension of data.qM in code is nM*1, how to convert it into nv*nv?
     
    foolyc, Jan 24, 2018
    #1
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    There is a function in the API that does the conversion: mj_fullM
     
    Emo Todorov, Jan 24, 2018
    #2
  3. foolyc

    foolyc

    Thanks for your reply, but i still meet problem about this equation:
    M * qacc + qfrc_bias not equal to data.qfrc_passive + data.qfrc_actuator + data.efc_JT * efc_force
    while M is converted by mj_fullM, then reshape to nv*nv
     
    foolyc, Jan 25, 2018
    #3