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Minor const clarification
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@ -101,7 +101,7 @@ public:
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body->AddLinkForce(Vector3d(0.0, 0.0, mrr), Vector3d(-dist, -dist, 0.0));
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// torque
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const double maxTorque = 0.0024; // 24 g*cm ≈ 24 mN*m
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const double maxTorque = 0.0024 * ONE_G; // ~24 g*cm
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body->AddRelativeTorque(Vector3d(0.0, 0.0, scale0 * maxTorque * motors[MOTOR_FRONT_LEFT]));
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body->AddRelativeTorque(Vector3d(0.0, 0.0, scale1 * -maxTorque * motors[MOTOR_FRONT_RIGHT]));
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body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOTOR_REAR_LEFT]));
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