search

RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
Other
3.27k stars 1.26k forks source link

CalcJacobianCenterOfMassTranslationalVelocity() should take in model_instances as an input #14916

Closed hongkai-dai closed 3 years ago

hongkai-dai commented 3 years ago

Currently when we compute the center-of-mass position through CalcCenterOfMassPositionInWorld https://github.com/RobotLocomotion/drake/blob/a939b72dfd547f7f2cfb145f400408e4e1423e46/multibody/plant/multibody_plant.h#L2476-L2478, the function takes model_instances as an input, so that we can evaluate the CoM position for a subset of plant.

On the other hand, when we compute the CoM Jacobian, we don't take the model_instances as the input https://github.com/RobotLocomotion/drake/blob/a939b72dfd547f7f2cfb145f400408e4e1423e46/multibody/plant/multibody_plant.h#L3122-L3125 I think we should also add model_instances as an input to CalcJacobianCenterOfMassTranslationalVelocity

sherm1 commented 3 years ago

--> @mitiguy

mitiguy commented 3 years ago

Got it -- yes, I'll work on it today/tomorrow.

mitiguy commented 3 years ago

PR #15387 opened to address this issue.

mitiguy commented 3 years ago

Closed with PR #15691 and PR #15387.