Bug in joint damping calculator

ihmcrobotics / simulation-construction-set-2

Graphical user interface for visualizing control variables from either a server, a log file, or a simulation.

Apache License 2.0

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Closed mavivianne closed 7 months ago

mavivianne commented 1 year ago

OneDoFJointDefinition initializes several gains to -1, damping included which is then used in RobotOneDoFJointDampingCalculator

SylvainBertrand commented 1 year ago

In addition, if the controller doesn't reset the joint torque every tick, the damping torque ends up being integrated over time.