Update ContactModel.compute_contact_forces APIs
#247
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flferretti
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Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
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The new contact models that have been introduced recently need to consider the whole system dynamics to compute the contact forces. This was not necessary in the original
SoftContactsmodel. However, this is just a simplification specific to theSoftContactsmodel implementation, and it is the main reason why they can run so fast compared to the new models.I believe that the most generic APIs take
modelanddataas input arguments instead ofpositionandvelocity. This also aligns the disparity in which theposition|velocityarguments ofSoftContactswere the individual ones, while for the other contact models were the vmapped ones. Furthermore, it removes the ambiguity for the other contact models in which the passedposition|velocitycould differ from the kinematics that can be computed frommodel|data.📚 Documentation preview 📚: https://jaxsim--247.org.readthedocs.build//247/