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I am currently learning about robotic grasping and came across a matrix $H_i \in \mathbb{R} ^{l_i \times 6}$ which selects $l_i$ components of the relative contact twists and sets them to zero. My issue is that the rotational component of $H_i$ is said to be "vacuous" for the hard finger and point without friction models. Could someone please explain what the vacuous means in this context? Is it just a zero matrix?

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    $\begingroup$ i have that in my head some days ... lol $\endgroup$ – jsotola Jul 31 at 2:16

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