Ensure consistent link forces and fix static joint friction #162
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When passed to forward dynamics Co-authored-by: Alessandro Croci <alessandro.croci@iit.it>
Co-authored-by: Alessandro Croci <alessandro.croci@iit.it>
Co-authored-by: Alessandro Croci <alessandro.croci@iit.it>
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diegoferigo
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Jun 4, 2024
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This pull request includes several changes to ensure consistent link forces and fix the base acceleration transform in the code. The changes include:
VelRepr.Inertialwhen passed to forward dynamicsVelRepr.Mixedin ABAC.C. @xela-95