Fix contact params estimation in fixed-base models #98
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diegoferigo
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Mar 1, 2024
If the `model.physics_model.is_floating_base` is False, with the current version, the whole `W_p_CoM` variable is returned (`shape=(3,)`), but it should have `shape=()`
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diegoferigo
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Co-authored-by: Diego Ferigo <[email protected]>
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If the$z$ component of the CoM position is extracted also for fixed-base models.
model.physics_model.is_floating_baseis False, with the current version, the wholeW_p_CoMvariable is returned (shape=(3,)), but it should haveshape=().For this reason, the code has been changed such that the
📚 Documentation preview 📚: https://jaxsim--98.org.readthedocs.build//98/