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Fix contact params estimation in fixed-base models #98

Merged
merged 3 commits into from
Mar 4, 2024
Merged

Fix contact params estimation in fixed-base models #98

merged 3 commits into from
Mar 4, 2024

Commits on Mar 1, 2024

  1. Fix contact params estimation in fixed-base models 

    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=()`
    @flferretti
    flferretti committed Mar 1, 2024
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  2. Update notation 

    Co-authored-by: Diego Ferigo <[email protected]>
    @flferretti @diegoferigo
    flferretti and diegoferigo committed Mar 1, 2024
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  3. Update src/jaxsim/api/contact.py

    @diegoferigo
    diegoferigo authored Mar 1, 2024
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