Hello
I want to use function forwardDynamics and my model has f_ext.In the official document, it says that f_ext is in base coordinates. So base coordinates is the same as base_link coordinates?
But I find a problem. I set f_ext z_axis of link1 to 5 and other f_ext to zero.f_ext[model->GetBodyId("link1")][5] = 5.0;
In another case, I set f_ext z_axis of link2 to 5 and other f_ext to zero.f_ext[model->GetBodyId("link2")][5] = 5.0;
In the above two cases, the output QDDot is different.If f_ext is in base coordinates, QDDot should be the same.I am currently confused and do not know how to define f_ext.
Thank you.