Add the possibility to set forces to frames #209
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diegoferigo
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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).
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Co-authored-by: Diego Ferigo <[email protected]>
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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/