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Current Contact Jacobian and dJacobian #53
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Hi,
UPDATE: thinking again about my suggestion above, as written this will definitely not work, since you need to at least call |
Hi! |
That is correct. Note that for elliptic cones this basically reads out the values from |
I want to access the value of the contact jacobian (J(q)) and its derivative (dJ(q,dq)) at the current state [q, dq] at a particular point on the robot and the value of contact force between these 2 contacting geoms. e.g the foot making contact with the ground. I want to add the following constraints to a qp:
How do I go about doing this?
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