why divide Jτaa by 2

[hustmzy]

Hi, thanks for the great work. I have a question that I would like to ask. In the input.jl file, within the function input_impulse!, why is it necessary to divide Jτaa by 2 when calculating pbody.state.Jτ2, especially considering that in impulse_transform, Diagonal([sones(3); 0.5 * sones(3)]) * transpose([X Q]) has already divided by 2?

Thanks for your answer.

[mfogelson]

I guess that this is related to dealing with the orientation as a quaternion.