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Felix Crazzolara
Felix Crazzolara

Reputation: 732

Rigid Body Plant - State vs. Kinematics and Accelerations

Suppose that my rigid body plant is generated from a URDF file and represents a manipulator such as the Kuka arm in the examples. I have two questions:

1.) Are the generalized positions and velocities from state_output_port() and state_derivative_output_port() the same as the ones I could obtain from the KinematicsResult object that can be obtained from kinematics_results_output_port()?

2.) What is the recommended way to obtain the joint accelerations from a rigid body plant/tree?

Upvotes: 0

Views: 66

Answers (1)

Russ Tedrake
Russ Tedrake

Reputation: 5533

RigidBodyPlant is on the way out (not officially deprecated yet, but very soon). Please look at the MultibodyPlant toolchain instead? examples/manipulation_station is roughly replacing the examples/kuka_iiwa_arm directory.

Upvotes: 1

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