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[core] Wrong computation of data.f in computeExtraTerms #660

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duburcqa opened this issue Nov 5, 2023 · 0 comments · Fixed by #684
Closed

[core] Wrong computation of data.f in computeExtraTerms #660

duburcqa opened this issue Nov 5, 2023 · 0 comments · Fixed by #684
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bug Something isn't working core P0 Highest priority issue

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@duburcqa
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duburcqa commented Nov 5, 2023

In Jiminy, data.f is expected to store the internal forces applied on each joint under all external forces on the whole system including the gravity field. This quantity is actually a by-product of RNEA when considering all external forces including contact forces.

For now, data.f store the total external forces applied on each body including joint effort and reciprocal forces (namely the forces that would be involved in Newtonian formulation of dynamics), eg 0.0 if in static posture.

@duburcqa duburcqa added bug Something isn't working core labels Nov 5, 2023
@duburcqa duburcqa self-assigned this Nov 5, 2023
@duburcqa duburcqa added the P0 Highest priority issue label Nov 5, 2023
@duburcqa duburcqa removed their assignment Nov 8, 2023
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Labels
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