Account for joint torques in relaxed rigid contact model #251
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xela-95
approved these changes
Oct 2, 2024
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Nice catch @flferretti !! I liked the moonwalking motion but I think this is (a lot) more stable 🤣 It looks good to me!
diegoferigo
approved these changes
Oct 3, 2024
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This PR fixes a bug for which the contact model was not able to compensate for tangential forces generated by joint torques.
📚 Documentation preview 📚: https://jaxsim--251.org.readthedocs.build//251/
2024-10-02_10-32-58simulation_comodo.mp4
2024-10-02_10-55-01simulation_comodo.mp4