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Fix inverse dynamics with damping and stiffness #1451

Merged
merged 3 commits into from
Apr 27, 2020
Merged

Fix inverse dynamics with damping and stiffness #1451

merged 3 commits into from
Apr 27, 2020

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@jslee02 jslee02 commented Apr 25, 2020 •
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This PR fixes incorrect implicit joint damping/spring forces in inverse dynamics computation.

Fixes #1450

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@jslee02 jslee02 added this to the DART 6.9.3 milestone Apr 25, 2020
@jslee02 jslee02 mentioned this pull request Apr 25, 2020
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@jslee02 jslee02 merged commit 6bc1e9b into release-6.9 Apr 27, 2020
@jslee02 jslee02 deleted the bugfix/inverse_dynamics_6.9.3 branch April 27, 2020 04:17
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@mxgrey mxgrey mxgrey approved these changes

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