Inverse Kinematics
ywyw2015 opened this issue · comments
What is the coordinate system of pupper？What is the sequence of motor control？
The coordinate system is fixed to the frame of the robot and centered at the geometric center between the hip axes. Not sure what you mean by sequence of motor control.
More specific question:
how are oriented axes of pupper? Where points X+axis and so on.
Yes I guess X axis is forward along the main body frame, Y axis perpendicular. However the question is more about the Z axis is oriented up or down?
Thank you for this astonished work actually