Compute link bias accelerations J̇ν #127
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flferretti
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traversaro
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This feature enables developing robot controllers that enforce holonomic constraints @ami-iit/vertical_control-oriented-learning |
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This PR adds a new algorithm to compute the link bias accelerations$\dot{J} \boldsymbol{\nu}$ , i.e. the accelerations not due to $\dot{\boldsymbol{\nu}}$ .
📚 Documentation preview 📚: https://jaxsim--127.org.readthedocs.build//127/