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Update ArmModel.h

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Agnel Wang 2024-10-29 17:44:50 +08:00 committed by GitHub
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1 changed files with 2 additions and 2 deletions
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include/unitree_arm_sdk/model/ArmModel.h
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@ -59,7 +59,7 @@ Mat6 CalcJacobian(Vec6 q);
* Inputs: q: joint angles * Inputs: q: joint angles
* qd: joint velocities * qd: joint velocities
* qdd: joint accelerations * qdd: joint accelerations
* Ftip: Spatial force applied by the end-effector * Ftip: Spatial force applied by the end-effector [rpyxyz]
* Returns: required joint forces/torques * Returns: required joint forces/torques
*/ */
Vec6 inverseDynamics(Vec6 q, Vec6 qd, Vec6 qdd, Vec6 Ftip); Vec6 inverseDynamics(Vec6 q, Vec6 qd, Vec6 qdd, Vec6 Ftip);