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Yes, we use the former. |
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Thank you for confirming it! |
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fastSPD.pdf
According to this paper, there are two ways to formulate equations of motions for a kinematic tree, direct matrix inversion and ABA. I wonder if mojoco is using one of those two?
It seems like mujoco is using a method that is closer to direct matrix inversion since qM is nMx1. For ABA, I think it will end up with multiple small matrices instead of a single sparse matrix. Any more information would be really appreciated!
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