Fix jaxsim.api.model.link_contact_forces
#232
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This was a leftover from when we updated the velocity representation of the model Jacobian to not use B and B[W] in body-fixed and mixed in favor of L and L[W].
flferretti
approved these changes
Sep 17, 2024
xela-95
approved these changes
Sep 17, 2024
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This function was a leftover from when we updated the velocity representation of the model Jacobian to not use$B$ and $B[W]$ in body-fixed and mixed in favor of $L$ and $L[W]$ (#167).
Luckily this method was not used elsewhere in the code -- and probably this is why this leftover got under our radar. However, there was a script on which @xela-95 and us worked that was calling this function. Everything was correct it inerital-fixed, but things were not correct in other velocity representations.
📚 Documentation preview 📚: https://jaxsim--232.org.readthedocs.build//232/