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Some questions of twisting_vector #90

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tractormaster4596 opened this issue Nov 15, 2024 · 0 comments

tractormaster4596 commented Nov 15, 2024

in this file :mpc_controller
/raibert_swing_leg_controller.py , at line 181
twisting_vector = np.array((-hip_offset[1], hip_offset[0], 0))

I can not understand why do this process, and why the vector like this -hip_offset[1], hip_offset[0], 0, can anyone help me?

Explanations and links to papers are all fine.

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