The dimensions of are expected to be [Nx1] for the N = number of non-fixed joints in the associated Rigid Body T

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The dimensions of are expected to be [Nx1] for the N = number of non-fixed joints in the associated Rigid Body T

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The dimensions of are expected to be [Nx1] for the N = number of non-fixed joints in the associated Rigid Body Tree model

The dimensions of FExt are expected to be [6xM] for the M = number of bodies in the associated Rigid Body Tree model.


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