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Fix joint force/torque sensor values #4462

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merged 1 commit into from
May 4, 2023
Merged

Fix joint force/torque sensor values #4462

merged 1 commit into from
May 4, 2023

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nkoenig
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@nkoenig nkoenig commented Apr 26, 2023

This PR resolves #4451 by skipping an update to zeroAccSpatFrc during the constraint pass.

Skip zeroAccSpatFrc for the constraint passes
94e5b69 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
@nkoenig nkoenig mentioned this pull request Apr 28, 2023
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@erwincoumans
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Thanks for the contribution, LGTM.

@erwincoumans erwincoumans merged commit e7193f8 into bulletphysics:master May 4, 2023
@scpeters scpeters deleted the nkoenig/fix_joint_wrench branch June 24, 2023 21:15
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Successfully merging this pull request may close these issues.

Incorrect joint force/torque sensor values for a passive pendulum
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@nkoenig @erwincoumans