Rename method that computes contact forces

Co-authored-by: Diego Ferigo <[email protected]>

src/jaxsim/api/contact.py

@@ -149,7 +149,7 @@ def collidable_point_dynamics(
             # collidable point, and the corresponding material deformation rate.
             # Note that the material deformation rate is always returned in the mixed frame
             # C[W] = (W_p_C, [W]). This is convenient for integration purpose.
-            W_f_Ci, CW_ṁ = jax.vmap(soft_contacts.contact_model)(
+            W_f_Ci, CW_ṁ = jax.vmap(soft_contacts.compute_contact_forces)(
                 W_p_Ci, W_ṗ_Ci, data.state.contacts_state.tangential_deformation
             )
 

src/jaxsim/rbda/contacts/common.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import abc
+from typing import Any
 
 import jaxsim.terrain
 import jaxsim.typing as jtp
@@ -80,12 +81,12 @@ class ContactModel(abc.ABC):
     terrain: jaxsim.terrain.Terrain
 
     @abc.abstractmethod
-    def contact_model(
+    def compute_contact_forces(
         self,
         position: jtp.Vector,
         velocity: jtp.Vector,
         **kwargs,
-    ) -> tuple[jtp.Vector, jtp.Vector]:
+    ) -> tuple[Any, ...]:
         """
         Compute the contact forces.
         Args:

src/jaxsim/rbda/contacts/soft_contacts.py

@@ -137,7 +137,7 @@ class SoftContacts(ContactModel):
 
     terrain: Terrain = dataclasses.field(default_factory=FlatTerrain)
 
-    def contact_model(
+    def compute_contact_forces(
         self,
         position: jtp.Vector,
         velocity: jtp.Vector,

tests/test_automatic_differentiation.py

@@ -308,7 +308,7 @@ def close_over_inputs_and_parameters(
         m: jtp.VectorLike,
         params: SoftContactsParams,
     ) -> tuple[jtp.Vector, jtp.Vector]:
-        return SoftContacts(parameters=params).contact_model(
+        return SoftContacts(parameters=params).compute_contact_forces(
             position=p, velocity=v, tangential_deformation=m
         )