Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add rigid contacts model #149

Closed
wants to merge 37 commits into from
Closed

Add rigid contacts model #149

wants to merge 37 commits into from

Commits on Jun 13, 2024

  1. Add contact_state attribute to JaxSimModel

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    4e86135 View commit details
    Browse the repository at this point in the history

  2. Dynamically import the correct contact state

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    c43ce11 View commit details
    Browse the repository at this point in the history

  3. Add ContactParams, ContactModel, ContactsState abstract classes

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    22cf6b0 View commit details
    Browse the repository at this point in the history

  4. Use generic variable names in js.data.JaxSimModelData

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    18205be View commit details
    Browse the repository at this point in the history

  5. Fix import path in tests

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    66fd327 View commit details
    Browse the repository at this point in the history

  6. Add rigid contacts model

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    cc130ea View commit details
    Browse the repository at this point in the history

  7. Move soft_contacts and rigid_contacts to api

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    ed7c1c7 View commit details
    Browse the repository at this point in the history

  8. Fix circular import errors

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    9856aaa View commit details
    Browse the repository at this point in the history

  9. Add valid method to contact base classes

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    dd3b8a8 View commit details
    Browse the repository at this point in the history

  10. Fix JaxSimModelData and RigidContacts init

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    31172c5 View commit details
    Browse the repository at this point in the history

  11. Fix ODEData build

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    801ebba View commit details
    Browse the repository at this point in the history

  12. Allow kwargs in system_velocity_dynamics

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    eebba88 View commit details
    Browse the repository at this point in the history

  13. Add computation of rigid contacts forces

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    5bfd37e View commit details
    Browse the repository at this point in the history

  14. Remove unused import

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    2cf56e1 View commit details
    Browse the repository at this point in the history

  15. Import soft_contacts and rigid_contacts in api

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    4aee3c3 View commit details
    Browse the repository at this point in the history

  16. Fix AD test

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    cb1de62 View commit details
    Browse the repository at this point in the history

  17. Inherit contact model during model reduction

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    6a9759b View commit details
    Browse the repository at this point in the history

  18. Fallback to default soft contact model in ODEState

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    42c81e7 View commit details
    Browse the repository at this point in the history

  19. Add Heaviside contact detection

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    01acdde View commit details
    Browse the repository at this point in the history

  20. Update documentation

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    edddc12 View commit details
    Browse the repository at this point in the history

  21. Allow to build ODEState without passing model

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    616fd3b View commit details
    Browse the repository at this point in the history

  22. Add PD stabilization of contact force response

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    ec36695 View commit details
    Browse the repository at this point in the history

  23. Use single contact jacobian

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    64e5fc1 View commit details
    Browse the repository at this point in the history

  24. [wip] Add test notebook for contact models

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    ce635c5 View commit details
    Browse the repository at this point in the history

  25. 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]>
    @xela-95 @flferretti @diegoferigo
    4 people committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    06564b6 View commit details
    Browse the repository at this point in the history

  26. Import soft_contacts and rigid_contacts in api

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    5dc6c8d View commit details
    Browse the repository at this point in the history

  27. Update ruff and black version. Add nb pre-commit

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    b6ffb32 View commit details
    Browse the repository at this point in the history

  28. DROP! Update Notebook

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    13b38de View commit details
    Browse the repository at this point in the history

  29. Implement __hash__ and __eq__ methods of JaxSimModel

    @diegoferigo @flferretti
    diegoferigo authored and flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    ea1c5b7 View commit details
    Browse the repository at this point in the history

  30. Update usage of HashlessObject in JaxSimModel

    @diegoferigo @flferretti
    diegoferigo authored and flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    ffc7ccd View commit details
    Browse the repository at this point in the history

  31. Maintain same terrain when reducing a model

    @xela-95 @flferretti
    xela-95 authored and flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    8abd08c View commit details
    Browse the repository at this point in the history

  32. Add contact_state attribute to JaxSimModel

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    7e5413b View commit details
    Browse the repository at this point in the history

  33. Dynamically import the correct contact state

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    1520eec View commit details
    Browse the repository at this point in the history

  34. Add ContactParams, ContactModel, ContactsState abstract classes

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    fe2829c View commit details
    Browse the repository at this point in the history

  35. Fix circular import errors

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    fdfa5cc View commit details
    Browse the repository at this point in the history

  36. Inherit contact model during model reduction

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    630016b View commit details
    Browse the repository at this point in the history

  37. Fallback to default soft contact model in ODEState

    @flferretti
    flferretti committed Jun 13, 2024
    Configuration menu
    Copy the full SHA
    e480be6 View commit details
    Browse the repository at this point in the history