We consider the following implicit frame associated to each collidable point:
C := \left({}^W \mathbf{p}_C, [L]\right)
where:
${}^W \mathbf{p}_C \in \mathbb{R}^3$ is the position of the collidable point in world coordinates.
$[L]$ is the orientation frame of the parent link of the collidable point (i.e. the link it is rigidly attached to).
This PR implements the following:
The world-to-contact-frame transform ${}^W \mathbf{H}_C \in \text{SE}(3)$.
The free-floating jacobian ${}^O J_{W,C/I}$ of the contact frame, where $I$ is the input representation that should match the representation of $\boldsymbol{\nu} \in \mathbb{R}^{6+n}$, and $O$ the desired output representation.
We consider the following implicit frame associated to each collidable point:
where:
This PR implements the following:
📚 Documentation preview 📚: https://jaxsim--163.org.readthedocs.build//163/