Expose quantities related to generic frames (#148)

* 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]>

src/jaxsim/api/__init__.py

@@ -3,12 +3,19 @@
 from . import (
     com,
     contact,
+<<<<<<< HEAD
+=======
+    frame,
+>>>>>>> e341015 (Expose quantities related to generic frames (#148))
     joint,
     kin_dyn_parameters,
     link,
     ode,
     ode_data,
     references,
+<<<<<<< HEAD
     rigid_contacts,
     soft_contacts,
+=======
+>>>>>>> e341015 (Expose quantities related to generic frames (#148))
 )