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    • olivier stasse's avatar
      Fix ZMP computation for multibody correction. · 06ed19b6
      olivier stasse authored
      With the use of spatial algebra in JRL-dynamics ZMP needs
      backward dynamics computation for proper evaluation.
      The internal setting of the WPG used an approximation of
      the momentum derivatives previously implemented in JRL-dynamics.
      This commit fix this problem and the references for the unitary
      test.
      
      This should be also validate with the simple-humanoid and not
      HRP-2.
      06ed19b6
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