Simulator refactor #366
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Simulator refactor #366
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Previously part of SoftContacts
…c differentiation tests
…act model handling
… model handling comodo walking working, no unit tests tried
Co-authored-by: Filippo Luca Ferretti <[email protected]>
* Rename base linear and angular velocity parameters in `forward_kinematics_model` * Update JaxSimModelData to use Mixed as default repr. in `build` function * Restore `step` function to accept link forces in the same reprensentation of data * Refactor tests to reflect changes in API * Remove redundant `system_velocity_dynamics` function and update `system_dynamics` to use `system_acceleration` directly * Update `step` function to use `system_acceleration` instead of `system_velocity_dynamics` * Format `test_automatic_differentiation.py`
* fix documentation and examples after major changes * Update jaxsim_as_physics_engine.ipynb * Update jaxsim_as_physics_engine_advanced.ipynb * Update README.md * update CI to latest ubuntu version --------- Co-authored-by: Alessandro Croci <[email protected]> Co-authored-by: Filippo Luca Ferretti <[email protected]>
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xela-95
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traversaro
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younik
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This was referenced Feb 4, 2025
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@ami-iit/darwin feel free to add anypoint I could have missed
📚 Documentation preview 📚: https://jaxsim--366.org.readthedocs.build//366/