jaxsim.rbda.jacobian

Contents

jaxsim.rbda.jacobian#

jaxsim.rbda.jacobian(model, *, link_index, joint_positions)[source]#

Compute the free-floating Jacobian of a link.

Parameters:

  • model (JaxSimModel) – The model to consider.

  • link_index (Array) – The index of the link for which to compute the Jacobian matrix.

  • joint_positions (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The positions of the joints.

Return type:

Array

Returns:

The free-floating left-trivialized Jacobian of the link \({}^L J_{W,L/B}\).

Contents