If a wheel is in contact with the ground, can I directly obtain the Jacobian and position information of the contact point using Pinocchio? - Githubissues

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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If a wheel is in contact with the ground, can I directly obtain the Jacobian and position information of the contact point using Pinocchio? #2305

Closed lkx8421 closed 1 week ago

lkx8421 commented 1 week ago

If a wheel is in contact with the ground, can I directly obtain the Jacobian and position information of the contact point using Pinocchio?