Comments (2)
andreadelprete
commented on July 20, 2024
Good point. For sure there's no call to 2nd-order FK (I think I've never used it). However, there's a call to computeAllTerms. My guess was that either computeAllTerms or FK computed link accelerations (assuming zero joint accelerations). I might be wrong, so we should check. Can you do it?
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hammoudbilal
commented on July 20, 2024
computeAllTerms computes only first order kinematics, had to call second order FK separately
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