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Compute the pose and the jacobian of the implicit frames associated to collidable points #163
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tests/test_contact.py
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# Compute the generalized velocity and the free-floating Jacobian of the frame C. | ||
ν = data.generalized_velocity() | ||
CL_J_WC = js.contact.jacobian(model=model, data=data, output_vel_repr=VelRepr.Mixed) |
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Is this correct? I was expecting it to be
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Yep you're right, that's the mixed velocity and I should have named the variable CW_J_WC
. Thanks!
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Great! Thanks Diego, LGTM
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Co-authored-by: Alessandro Croci <[email protected]> Co-authored-by: Filippo Luca Ferretti <[email protected]>
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We consider the following implicit frame associated to each collidable point:
where:
This PR implements the following:
📚 Documentation preview 📚: https://jaxsim--163.org.readthedocs.build//163/