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rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
http://www.openrave.org
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Fix skipping rotor inertia contribution in inverse dynamics if velocity is zero #1260

Closed kanbouchou closed 1 year ago

kanbouchou commented 1 year ago

Torque due to rotor inertia is not relevant to velocity, but it was not being considered when velocity is 0.

rdiankov commented 1 year ago

thanks