more wheel updates #93
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baggepinnen
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Aug 8, 2024
* more wheel updates * wheel solves but goes in the wrong direction * test passes with world.n hacks * finishing touches * try global scoping n * set world parameter defaults using keyword * redefine defaults again * scalarize world n * switch to wheel rolling on xz plane * move wheel tests to own file rm using Plots
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Lots of mysteries here
ycoordinate ofworld.ncould not be set, so the result was thatn = [0, -1, -1]ncorrect, but the wheel goes in the opposite direction compared to modelicaRa = ori(frame_a, true)and includeRa.w ~ Rarot.w, I get a completely different solutionThe last two opints were due to a convention difference with modelica, fixed by negating the angle in
axis_rotation. The first issue is more concerning