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Add function to compute the Jacobian derivative of additional frames rigidly attached to links #210

Merged
merged 11 commits into from
Jul 19, 2024
Merged

Add function to compute the Jacobian derivative of additional frames rigidly attached to links #210

merged 11 commits into from
Jul 19, 2024

Commits on Jul 17, 2024

  1. Fix typo in frame_names docstring

    @xela-95
    xela-95 committed Jul 17, 2024
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  2. Add test_frame_jacobian_derivative unit test 

    This test checks that the bias acceleration of a frame obtained by computing J dot @ nu JaxSim corresponds to the same quantity obtained through KinDynComputations
    @xela-95
    xela-95 committed Jul 17, 2024
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  3. Add jacobian_derivative function in jaxsim.api.frame

    @xela-95
    xela-95 committed Jul 17, 2024
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  4. Add test against AD value in test_frame_jacobian_derivative

    @xela-95
    xela-95 committed Jul 17, 2024
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Commits on Jul 18, 2024

  1. Filter for frames in iDynTree model

    @xela-95
    xela-95 committed Jul 18, 2024
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  2. Fix conversion to mixed representation

    @xela-95
    xela-95 committed Jul 18, 2024
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  3. Test also against iDynTree

    @xela-95
    xela-95 committed Jul 18, 2024
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Commits on Jul 19, 2024

  1. Handle the conversion of input representation

    @xela-95
    xela-95 committed Jul 19, 2024
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  2. Update src/jaxsim/api/frame.py 

    Co-authored-by: Diego Ferigo <[email protected]>
    @xela-95 @diegoferigo
    xela-95 and diegoferigo authored Jul 19, 2024
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  3. Minor changes

    @xela-95
    xela-95 committed Jul 19, 2024
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  4. Apply suggestions from code review 

    Co-authored-by: diegoferigo <[email protected]>
    @xela-95 @diegoferigo
    xela-95 and diegoferigo committed Jul 19, 2024
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