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This page explains and clarify the various variables used to denote joint forces/torques
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| Qq | Qc | Qa | |
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|---------------|--------------------------------------|------------------------------------|------------------------------|
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| Dirdyn | Input, coming from user_jointForces | Output, resulting of driven joints | Not used |
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| Dirdyn – smlk | Input, coming from user_jointForces | | Coming from block input port |
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| Invdyn | Input, coming from user_jointForces | | |
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| Equil | | | |
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| Casadi | | | | |
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