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Thanks for reporting this issue @matheecs.
It is coming from the fact we do not fully support JointModelComposite. We will try to fix it in the following weeks.
C(q,v)v+g(q) ≠ nonLinearEffects
When I use
JointModelSphericalZYX
as part of floting joint, the result C*v+g is not equal to nonLinearEffects (nle).Expected behavior
Code
Output:
The results are inconsistent.
Additional context
Model file (
mybot.urdf
):System
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