Robot Models deliver inconsistent results

[dmronga]

The result differs form RBDL and pinocchio

[dmronga]

The different robot models do not deliver consistent results for all quantities computed. Party, this is because of bugs, partly because of a different representation of the floating base. In the latter case it is not clear if consistent results are possible at all. The following inconsistencies currently exist:

For all robots:

• RobotModelKDL currently does not provide a computation of the CoM spatial velocity/acceleration (will be set to NaN)
• RobotModelKDL CoM Jacobian is incorrect

Only floating base systems:

• RobotModelKDL Forward kinematics spatial velocity/acceleration is incorrect
• All models: The Jacobians, spatial acceleration bias, bias forces, as well as the mass-inertia matrix will be different for every model. To be checked:
  • Why does the spatial acc bias differ for every model, when the forward kinematics (pos/vel/acc) is consistent?
  • For the Jacobians, only the first 6 columns (floating base) are incosistent. However, for the the Mass-matrix and the bias forces there are also inconsistencies in the columns that correspond to the other joints. Why?