Question on Contact Dynamics Derivatives Unit Test #1925
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heli-sudoo
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Thanks for open-sourcing Pinocchio. It is incredibly good! I have one question regarding computing the partials of the contact KKT dynamics.
In the unit test https://github.com/stack-of-tasks/pinocchio/blob/78d62096002ffa3790638e392f0b6e4a5efc3d34/unittest/contact-dynamics-derivatives.cpp#L147](here), why the generalized velocity (v) is set to zero when computing the kinematics derivatives? I believe v might remain the same as when computing the RNEA derivatives as in line 143. Is this change associated to the comparison with the finite difference method?
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