Add the option to compute the full joint wrench. #13
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james-p-foster
approved these changes
Jan 9, 2024
|
I switched to IntelliJ, sadly I can't get the formatter to perfectly match Eclipse's one. I thought I had reverted these changes though, I'm gonna fix that. |
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This PR enables the
ForwardDynamicsCalculatorto compute the full joint wrench. The goal is to allow simulation to compute the wrenches across the robot body to do FEA and whatnot.