Fix conversion of non-inertial-fixed contact forces in jaxsim.api.contact.collidable_point_dynamics
#241
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xela-95
approved these changes
Sep 23, 2024
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The transform used to convert contact forces from inertial-fixed representation to either body-fixed or mixed was not correct. It used the base transform${}^W \mathbf{H}_B$ instead of the transforms of the contact frames ${}^W \mathbf{H}_{C_i}$ .
cc @xela-95
📚 Documentation preview 📚: https://jaxsim--241.org.readthedocs.build//241/