If a wheel is in contact with the ground, can I directly obtain the Jacobian and position information of the contact point using Pinocchio? #2306
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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? |
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Answered by
Umair-Aslam-Projects
Jun 29, 2024
Replies: 1 comment
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Yes, it is possible to do that. You can define a frame at the contact point and get position information and Jacobaian for this frame. |
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Answer selected by
jorisv
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Yes, it is possible to do that. You can define a frame at the contact point and get position information and Jacobaian for this frame.