Contact 6D computes spatial acceleration, whereas contact 3D Classical acceleration: is one of them wrong ? about crocoddyl HOT 1 CLOSED

Hello, I also found this issue, and I think there is also an issue in the equation for solving da0_local_dx in contact-3d, has anyone else found this problem?

` pinocchio::getJointAccelerationDerivatives(
*state_->get_pinocchio().get(), *d->pinocchio, joint, pinocchio::LOCAL,
d->v_partial_dq, d->a_partial_dq, d->a_partial_dv, d->a_partial_da);

const std::size_t nv = state_->get_nv();
pinocchio::skew(d->v.linear(), d->vv_skew);
pinocchio::skew(d->v.angular(), d->vw_skew);
d->fXjdv_dq.noalias() = d->fXj * d->v_partial_dq;
d->fXjda_dq.noalias() = d->fXj * d->a_partial_dq;
d->fXjda_dv.noalias() = d->fXj * d->a_partial_dv;
d->da0_local_dx.leftCols(nv) = d->fXjda_dq.template topRows<3>();
d->da0_local_dx.leftCols(nv).noalias() +=
d->vw_skew * d->fXjdv_dq.template topRows<3>();
d->da0_local_dx.leftCols(nv).noalias() -=
d->vv_skew * d->fXjdv_dq.template bottomRows<3>();
d->da0_local_dx.rightCols(nv) = d->fXjda_dv.template topRows<3>();
d->da0_local_dx.rightCols(nv).noalias() +=
d->vw_skew * d->fJf.template topRows<3>();
d->da0_local_dx.rightCols(nv).noalias() -=
d->vv_skew * d->fJf.template bottomRows<3>();`

from crocoddyl.