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updating comments on leg matrix t01 to show differences between origi… #8

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4 changes: 2 additions & 2 deletions utilities/spot_micro_kinematics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ def t_0_to_1(theta1,l1):
# I believe there is a typo in the paper. The paper lists this matrix as:
#
# t = [ cos(theta1) -sin(theta1) 0 -l1*cos(theta1);
# sin(theta1) -cos(theta1) 0 -l1*sin(theta1);
# sin(theta1) cos(theta1) 0 -l1*sin(theta1);
# 1 0 0 0;
# 0 0 0 1;]
#
Expand All @@ -109,7 +109,7 @@ def t_0_to_1(theta1,l1):
# axis's z axis is the same as the original. So I think the matrix should be:
#
# t = [ cos(theta1) -sin(theta1) 0 -l1*cos(theta1);
# sin(theta1) -cos(theta1) 0 -l1*sin(theta1);
# sin(theta1) cos(theta1) 0 -l1*sin(theta1);
# 0 0 1 0;d
# 0 0 0 1;]

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