jaxsim.api.contact

Functions

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_contact_parameters(model, *[, ...])	Estimate good contact parameters.
estimate_good_soft_contacts_parameters(...)	Estimate good soft contacts parameters.
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 enabled collidable points.
jacobian_derivative(model, data, *[, ...])	Compute the derivative of the free-floating jacobian of the enabled collidable points.
link_contact_forces(model, data, *[, ...])	Compute the 6D contact forces of all links of the model in inertial representation.
link_forces_from_contact_forces(model, *, ...)	Compute the link forces from the contact forces.
transforms(model, data)	Return the pose of the enabled collidable points.