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Published 20 hours ago • verified publisher icon seungbaebang

Why is mass matrix multiplied by 1000?

Open guohaoxiang opened this issue 2 years ago • 0 comments

Dear authors, thanks a lot for providing the code of complementary dynamics. I find that after constructing the mass matriix, it is multiplied by 1000, as shown below:

https://github.com/seungbaebang/complementary-dynamics-cpp/blob/a80f9579d714352fe541518cf89554d62b72a4f4/demo/complementary_dynamics.cpp#L142

Can you tell me the meaning of this operation? Or is it just a line of uncomment code?

guohaoxiang avatar Sep 21 '22 14:09 guohaoxiang