handle gravity as an acceleration
Opened this issue · 1 comments
sbarthelemy commented
Currently, gravity is handled as an additional force, in a dedicated controller. It could be computed more efficiently as an acceleration offset, acting on a FreeJointWithGravity joint.
salini commented
it seems that the WeightController has some problem: for example, the compute H_bc is not used, and the inverted Adjoint, is not transposed, as it is multiply with a "force".