8000 fixed bug in jointdynamics, rne args are reversed in python version · yobzhuu/robotics-toolbox-python@6319cdd · GitHub
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Commit 6319cdd

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petercorkepetercorke
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fixed bug in jointdynamics, rne args are reversed in python version
1 parent 63cfd8a commit 6319cdd

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+2
-5
lines changed

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+2
-5
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‎roboticstoolbox/robot/Dynamics.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -273,7 +273,7 @@ def jointdynamics(self, q, qd=None):
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zero = np.zeros((self.n))
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qdd = np.zeros((self.n))
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qdd[j] = 1
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M = self.rne(q, zero, qdd, grav=[0, 0, 0])
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M = self.rne(qdd, zero, q, grav=[0, 0, 0])
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J = link.Jm + M[j] / abs(link.G) ** 2
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# compute friction

‎tests/test_SerialLink.py

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -371,16 +371,13 @@ def test_payload(self):
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nt.assert_array_almost_equal(panda.links[6].m, m)
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def test_jointdynamics(self):
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# TODO
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self.skipTest("error jointdynamics not complete")
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# error in the J value
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puma = rp.models.DH.Puma560()
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jd = puma.jointdynamics(puma.qn)
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# numbers come from MATLAB
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nt.assert_array_almost_equal(jd[0], [0.001133478453251, 0.001480000000000])
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nt.assert_array_almost_equal(jd[1], [0.579706964030143e-3, 0.817000000000000e-3])
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nt.assert_array_almost_equal(jd[2], [0.000525146448377, 0.001380000000000])
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383-
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def test_twists(self):
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# TODO
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panda = rp.models.DH.Panda()

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