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RobotState parameters #92

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yoggi56 opened this issue Jul 13, 2023 · 0 comments
Open

RobotState parameters #92

yoggi56 opened this issue Jul 13, 2023 · 0 comments

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@yoggi56
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yoggi56 commented Jul 13, 2023

Hi!
I found some parameters in files RobotState.cpp and RobotState.h but can't realize their meaning.
RobotState.h line 24:
fpt m = 9;
Is it mass of the body or something else?

RobotState.cpp line 38:
Id << .07f, 0.26f, 0.242f;
Is it body ienrtia? Why it is not match with the body inertia in a file MiniCheetah.h?
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