Handle motor inertia separately from the link inertia
Issue #153
resolved
This is very important to ensure physical consistency.
Comments (4)
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reporter -
reporter - marked as blocker
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reporter Fixed in the tao integrator as well.
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reporter - changed status to resolved
Resolved as of 3fd3baa74152fe8709a369f35f2db333339ee1ff
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Works for the scl spatial integrator & the CRBA..