jaxsim.api.frame

Functions

idx_of_parent_link(model, *, frame_index)	Get the index of the link to which the frame is rigidly attached.
idx_to_name(model, *, frame_index)	Convert the index of a frame to its name.
idxs_to_names(model, *, frame_indices)	Convert a sequence of frame indices to their corresponding names.
jacobian(model, data, *, frame_index[, ...])	Compute the free-floating jacobian of the frame.
jacobian_derivative(model, data, *, frame_index)	Compute the derivative of the free-floating jacobian of the frame.
name_to_idx(model, *, frame_name)	Convert the name of a frame to its index.
names_to_idxs(model, *, frame_names)	Convert a sequence of frame names to their corresponding indices.
transform(model, data, *, frame_index)	Compute the SE(3) transform from the world frame to the specified frame.