Add the possibility to set forces to frames #209
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
flferretti
force-pushed
the
feature/frame_force
branch
2 times, most recently
from
6578638
to
28801f6
Compare
diegoferigo
requested changes
Jul 23, 2024
There was a problem hiding this comment.
Thanks @flferretti for taking care of this new feature! I have some doubts on the calculation of the forces, I provided some extra context in #159 (comment).
flferretti
force-pushed
the
feature/frame_force
branch
from
f30d3cf
to
6f69c97
Compare
diegoferigo
reviewed
Jul 24, 2024
diegoferigo
approved these changes
Jul 24, 2024
Co-authored-by: Diego Ferigo <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The implementation extends
JaxSimModelReferenceswith aapply_frame_forcesmethod that first converts the forces to inertial representation, then converts them to the parent link forces and finally callsapply_link_forcesto return the object with the updated link forces.The conversion logic can be found at #159 (comment).
Closes #159
📚 Documentation preview 📚: https://jaxsim--209.org.readthedocs.build//209/