Hi, thank you for this great work!
I have a question regarding the gravity compensation torque mentioned in the paper.
In the paper, you mention the gravity compensation torque ((\tau_g)). However, when I looked through the code, I couldn't find where (\tau_g) is explicitly computed or used. Instead, I only found the following torque constraint:
Could you clarify what the value of (\tau_g) is in the real-world implementation? Is the gravity compensation torque explicitly calculated somewhere in the code, or is it already incorporated into the torque limit (\tau^{\mathrm{lim}}) or another component of the controller?
Thank you very much for your help!
Hi, thank you for this great work!
I have a question regarding the gravity compensation torque mentioned in the paper.
In the paper, you mention the gravity compensation torque ((\tau_g)). However, when I looked through the code, I couldn't find where (\tau_g) is explicitly computed or used. Instead, I only found the following torque constraint:
Could you clarify what the value of (\tau_g) is in the real-world implementation? Is the gravity compensation torque explicitly calculated somewhere in the code, or is it already incorporated into the torque limit (\tau^{\mathrm{lim}}) or another component of the controller?
Thank you very much for your help!