[Sprint] Simplify contact model usage in Jaxsim #347
Merged
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
Previously part of SoftContacts
…c differentiation tests
…act model handling
… model handling comodo walking working, no unit tests tried
…s methods from ContactModel
…representation and remove unused methods
…ial representation
xela-95
force-pushed
the
sprint/contacts
branch
from
73dd87a to
d7494de
Compare
… velocity representation
flferretti
force-pushed
the
sprint/contacts
branch
from
7a11c0a to
ff88446
Compare
flferretti
approved these changes
Jan 21, 2025
flferretti
changed the title
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Outdated suggestions cannot be applied.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 is an early stage PR in which the contact model handling has been simplified in order to increase readability and speed up sprint developments.
As discussed f2f for this sprint we have decided to focus on the
RelaxedRigidcontact model, hence to simplify the sprint developments, all the other contact models have been removed, but they could be added back at the end of the sprint.Blocked by #346
📚 Documentation preview 📚: https://jaxsim--347.org.readthedocs.build//347/