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Allow to use the link frame when setting or getting forces using the references helper #164
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Note that the default in body-fixed and mixed is using With this PR, I'm not sure if also this behavior should be changed. In other words, should all our functions accepting cc @traversaro for a quick feedback. |
Interesting, there is any reason why the jacobian is not returning the matrix
? I guess iDynTree does that, but I may be doing some wrong assumption. |
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LGTM, thanks!
I guess that the main reason that triggered the usage of You can check for the |
That for the explanation, this is much more clear. Personally I would find a bit confusing any function that returns or accepts 6D forces written as |
I totally agree. I'll have a look at this, it shouldn't require a lot of work. I'm not sure at this point if this PR makes sense to be merged, probably I'll include the relevant changes in the new PR with the updated Jacobians. |
Superseeded by #167. Closing. |
Before this PR, the helper was expecting the following:
JaxSimModelReferences.link_forces
returnedJaxSimModelReferences.apply_link_forces
expected to receiveAfter this PR, if
use_link_frame=True
, these methods behave as follows:JaxSimModelReferences.link_forces
returnsJaxSimModelReferences.apply_link_forces
expects to receive📚 Documentation preview 📚: https://jaxsim--164.org.readthedocs.build//164/