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Add rigid contacts model#149

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flferretti wants to merge 37 commits intomainami-iit/jaxsim:mainfrom feature/rigid_contactsami-iit/jaxsim:feature/rigid_contactsCopy head branch name to clipboard

+771-328

Commits

Commits on Jun 13, 2024

• Add contact_state attribute to JaxSimModel

  flferretti

  committed
  4e86135

• Dynamically import the correct contact state

  flferretti

  committed
  c43ce11

• Add ContactParams, ContactModel, ContactsState abstract classes

  flferretti

  committed
  22cf6b0

• Use generic variable names in js.data.JaxSimModelData

  flferretti

  committed
  18205be

• Fix import path in tests

  flferretti

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  66fd327

• Add rigid contacts model

  flferretti

  committed
  cc130ea

• Move soft_contacts and rigid_contacts to api

  flferretti

  committed
  ed7c1c7

• Fix circular import errors

  flferretti

  committed
  9856aaa

• Add valid method to contact base classes

  flferretti

  committed
  dd3b8a8

• Fix JaxSimModelData and RigidContacts init

  flferretti

  committed
  31172c5

• Fix ODEData build

  flferretti

  committed
  801ebba

• Allow kwargs in system_velocity_dynamics

  flferretti

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  eebba88

• Add computation of rigid contacts forces

  flferretti

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  5bfd37e

• Remove unused import

  flferretti

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  2cf56e1

• Import soft_contacts and rigid_contacts in api

  flferretti

  committed
  4aee3c3

• Fix AD test

  flferretti

  committed
  cb1de62

• Inherit contact model during model reduction

  flferretti

  committed
  6a9759b

• Fallback to default soft contact model in ODEState

  flferretti

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  42c81e7

• Add Heaviside contact detection

  flferretti

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  01acdde

• Update documentation

  flferretti

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  edddc12

• Allow to build ODEState without passing model

  flferretti

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  616fd3b

• Add PD stabilization of contact force response

  flferretti

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  ec36695

• Use single contact jacobian

  flferretti

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  64e5fc1

• [wip] Add test notebook for contact models

  flferretti

  committed
  ce635c5

• Expose quantities related to generic frames (#148)

  Show description for 06564b6
  

  3 peoplecommitted
  06564b6

• Import soft_contacts and rigid_contacts in api

  flferretti

  committed
  5dc6c8d

• Update ruff and black version. Add nb pre-commit

  flferretti

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  b6ffb32

• DROP! Update Notebook

  flferretti

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  13b38de

• Implement __hash__ and __eq__ methods of JaxSimModel

  

  diegoferigo

  authored and

  flferretti

  committed
  ea1c5b7

• Update usage of HashlessObject in JaxSimModel

  

  diegoferigo

  authored and

  flferretti

  committed
  ffc7ccd

• Maintain same terrain when reducing a model

  

  xela-95

  authored and

  flferretti

  committed
  8abd08c

• Add contact_state attribute to JaxSimModel

  flferretti

  committed
  7e5413b

• Dynamically import the correct contact state

  flferretti

  committed
  1520eec

• Add ContactParams, ContactModel, ContactsState abstract classes

  flferretti

  committed
  fe2829c

• Fix circular import errors

  flferretti

  committed
  fdfa5cc

• Inherit contact model during model reduction

  flferretti

  committed
  630016b

• Fallback to default soft contact model in ODEState

  flferretti

  committed
  e480be6