Code

Remove *ContactsState classes#256

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diegoferigo merged 11 commits intomainami-iit/jaxsim:mainfrom remove_contact_stateami-iit/jaxsim:remove_contact_stateCopy head branch name to clipboardOct 7, 2024

+317-372

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Commits on Oct 7, 2024

• Use the contact model to create the optional contact state

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  diegoferigo

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• Remove *ContactsState classes

  diegoferigo

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• Add ContactModel.build method with child classes implementations

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• Make ODEData contact-agnostic and allow to extend the ODE state

  diegoferigo

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• Update how JaxSimModelData is built with the new generic ODEState

  diegoferigo

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• Update how additional contact state variables populate the dynamics

  diegoferigo

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• Remove *ContactsState from jaxsim.api.contact

  diegoferigo

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• Update JaxSimModel builders

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• Get the material deformation from the extended state in SoftContacts

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• Update tests

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• Apply suggestions from code review

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  diegoferigo

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