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Calculate forces during standing #91
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For the records... problem solved with
I have an intuition of why that is happening, but still looks weird to me. Another problem, apparently, was to have a stance phase time exactly equal to:
Is the latter a bug, maybe? |
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Hi,
I was trying to calculate the inverse dynamic of a robot in static stance position.
Unfortunately, I observed that the generate ee_force splines have wild oscillations (value at time t=0 is correct).
This is the code I used:
What do you think it is going on and how can I prevent this from happen?
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