Add rigid contacts model #149
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
flferretti
force-pushed
the
feature/rigid_contacts
branch
2 times, most recently
from
dfe9ad4 to
ac410b8
Compare
flferretti
force-pushed
the
feature/rigid_contacts
branch
3 times, most recently
from
563e80d to
2447f54
Compare
flferretti
force-pushed
the
feature/rigid_contacts
branch
from
47ff34b to
742c1c6
Compare
* Create `jaxsim.api.frame` module with `transform` function * Add `frame` module to `jaxsim.api` package * Add unit test for `jaxsim.api.frame` module * Add index-related functions to `frame` module * Add `test_frame_index` to `frame` unit tests * Add `jacobian` method to `frame` module * Add `test_frame_jacobians` to `frame` unit tests * Add `.vscode` to gitignore * Add `frame` module to sphynx documentation * Apply suggestions from code review Co-authored-by: Filippo Luca Ferretti <[email protected]> Co-authored-by: Diego Ferigo <[email protected]> * Update frame.py * Add additional frame attached to link in box model * Refactor `test_frame_jacobians` to better debug jacobians not matching with iDynTree * Exclude from `test_frame_jacobians` the frames that are not loaded in KynDynComputations * Add `frame_parent_link_name` method to `KinDynComputations class` * Update code style of `frame.transform` function * WIP Update `test_frame_transforms` to print parent link frames and not fail at the first failed assertion * Update `test_frame_transforms` * Add single pendulum fixture in `conftest.py` * Clean `test_api_frames` * Fix retrieval of the frame's parent link index * Add function to get the frame's parent link index * Update frames test * Align link and joint tests * Removed unused tested model * Update tests to use new ROD URDF exporter function * Use plain integers for frame indices * Add JaxSimModel.frame_names * Fix regression raising TracerBoolConversionError when comparing pytrees * Temporarily disable test_pytree --------- Co-authored-by: Filippo Luca Ferretti <[email protected]> Co-authored-by: Diego Ferigo <[email protected]> Co-authored-by: diegoferigo <[email protected]>
flferretti
force-pushed
the
feature/rigid_contacts
branch
from
aab654e to
e480be6
Compare
|
Closing in favor of #178. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds a new rigid contacts model to the codebase.
📚 Documentation preview 📚: https://jaxsim--149.org.readthedocs.build//149/