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dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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why divide Jτaa by 2 #96

Open hustmzy opened 2 months ago

hustmzy commented 2 months ago

Hi, thanks for the great work. I have a question that I would like to ask. In the input.jl file, within the function input_impulse!, why is it necessary to divide Jτaa by 2 when calculating pbody.state.Jτ2, especially considering that in impulse_transform, Diagonal([sones(3); 0.5 sones(3)]) transpose([X Q]) has already divided by 2?

image

Thanks for your answer.

mfogelson commented 2 weeks ago

I guess that this is related to dealing with the orientation as a quaternion.