If a wheel is in contact with the ground, can I directly obtain the Jacobian and position information of the contact point using Pinocchio?

[lkx8421]

If a wheel is in contact with the ground, can I directly obtain the Jacobian and position information of the contact point using Pinocchio?

[Umair-Aslam-Projects]

Yes, it is possible to do that. You can define a frame at the contact point and get position information and Jacobaian for this frame.

[lkx8421]

But wheel contact point is not fixed in the wheel,

[jorisv]

I think you can safely update the frame placement by updating the right frame in the frames vector: model.frames[i].placement

Also, you can also call https://github.com/stack-of-tasks/pinocchio/blob/master/include/pinocchio/algorithm/frames-derivatives.hpp#L14-L48 that take placement as an argument.