Alessandro Croci
Alessandro Croci
Right now on `ErgoCubReduced` the jacobians that are not matching are the ones for the frames: - l_foot_front - l_foot_rear - l_hip_3 - l_shoulder_3 - r_hip_3 - r_shoulder3 These test...
> Right now on `ErgoCubReduced` the jacobians that are not matching are the ones for the frames: > > * l_foot_front > * l_foot_rear > * l_hip_3 > * l_shoulder_3...
Here's the log containg the homogeneous transforms from world to frame that are failing: Logs ``` jaxsim[100706] ERROR Assertion failed for frame: l_foot_front jaxsim[100706] DEBUG W_H_F_js: jaxsim[100706] DEBUG [[-0.35031 -0.67322...
The math compute by the `jacobian` function is pretty simple: - Get the parent link transform ${}^WH_L$ - Get the pose of the frame with respect to its parent link...
> These transform are complex. Can you try to set the w_H_B to identity and the joint position to zero, and try again? In that condition the W_H_F rotation of...
Here's the result of the transform unit test using default pose, setted using ```python data = js.data.JaxSimModelData.zero(model=model) ``` Details ``` jaxsim[139400] ERROR Assertion failed for frame: l_foot_front jaxsim[139400] DEBUG W_H_F_js:...
> Mmh, I see something smelly [here](https://github.com/ami-iit/rod/blob/f63965c479ea37dfd61a4620db4d055cc57fddd8/src/rod/utils/frame_convention.py#L101). By visual inspection it seems that the transform stored in `frame.pose` is not > 𝐿 > 𝐻 > 𝐹 > but rather >...
> @xela-95 can you temporarily change your code assuming what I wrote in [#148 (comment)](https://github.com/ami-iit/jaxsim/pull/148#issuecomment-2104283044) is true? It should be faster to update `api.frame.transform` rather than modifying rod. If this...
By updating the `transform` function as suggested in https://github.com/ami-iit/jaxsim/pull/148#issuecomment-2104292526: ```python @functools.partial(jax.jit, static_argnames=("frame_index",)) def transform( model: js.model.JaxSimModel, data: js.data.JaxSimModelData, *, frame_index: jtp.IntLike, ) -> jtp.Matrix: """ Compute the SE(3) transform from...
> Mmh I investigated a bit further. Parsed ROD models that are created after exporting to URDF should already have the pose of frames relative to their parent link. You...