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I am using the force reporter tool to find the forces at a constraint. When I have body 1 as the frame I want constrained and body 2 as the ground, the forces reported on the constraint are equal and opposite in the force reporter. However, the 2 frames do not line up. It appears that in the force reporter, the coordinate transformations do not take into account the change in joint angles. For instance if a 5 N force is applied in the ground frame at the constraint, a -5 N force is reported in the ground frame. And a 5 N force is reported in the body 1 frame; however, the reference frames between the ground and body 1 do not line up so they shouldn't have the same value. |
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