jaxsim.api.contact

Functions

collidable_point_dynamics(model, data[, ...])	Compute the 6D force applied to each collidable point.
collidable_point_forces(model, data)	Compute the 6D forces applied to each collidable point.
collidable_point_kinematics(model, data)	Compute the position and 3D velocity of the collidable points in the world frame.
collidable_point_positions(model, data)	Compute the position of the collidable points in the world frame.
collidable_point_velocities(model, data)	Compute the 3D velocity of the collidable points in the world frame.
estimate_good_soft_contacts_parameters(model, *)	Estimate good soft contacts parameters for the given model.
in_contact(model, data, *[, link_names])	Return whether the links are in contact with the terrain.
jacobian(model, data, *[, output_vel_repr])	Return the free-floating Jacobian of the collidable points.
jacobian_derivative(model, data, *[, ...])	Compute the derivative of the free-floating jacobian of the contact points.
transforms(model, data)	Return the pose of the collidable points.