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Fix contact params estimation in fixed-base models #98

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merged 3 commits into from
Mar 4, 2024
Merged

Fix contact params estimation in fixed-base models #98

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183d6c6
Fix contact params estimation in fixed-base models
flferretti Mar 1, 2024
d378d56
Update notation
flferretti Mar 1, 2024
669d538
Update src/jaxsim/api/contact.py
diegoferigo Mar 1, 2024
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6 changes: 3 additions & 3 deletions src/jaxsim/api/contact.py
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Original file line number Diff line number Diff line change
Expand Up @@ -167,13 +167,13 @@ def estimate_model_height(model: Model.JaxSimModel) -> jtp.Float:
model=model, soft_contacts_params=soft_contacts.SoftContactsParams()
)

W_p_CoM = Model.com_position(model=model, data=zero_data)
W_pz_CoM = Model.com_position(model=model, data=zero_data)[2]

if model.physics_model.is_floating_base:
W_pz_C = collidable_point_positions(model=model, data=zero_data)[:, -1]
return 2 * (W_p_CoM[2] - W_pz_C.min())
return 2 * (W_pz_CoM - W_pz_C.min())

return 2 * W_p_CoM
return 2 * W_pz_CoM

max_δ = (
max_penetration
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