[FEATURE] Add point-specific Jacobian support#1353
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duburcqa merged 16 commits intoGenesis-Embodied-AI:mainfrom Jul 10, 2025
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[FEATURE] Add point-specific Jacobian support#1353duburcqa merged 16 commits intoGenesis-Embodied-AI:mainfrom
duburcqa merged 16 commits intoGenesis-Embodied-AI:mainfrom
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This PR extends RigidEntity.get_jacobian so it can return the spatial Jacobian for any point on a link rather than just the link origin.
RigidEntity.get_jacobian(link, local_point=None): local_point (3-vector in link frame) is a Jacobian at that point.
Resolves #1050