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ami-iit / jaxsim Public

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Update `ContactModel.compute_contact_forces` APIs#247

Merged

diegoferigo merged 10 commits intomainami-iit/jaxsim:mainfrom update_contact_model_apisami-iit/jaxsim:update_contact_model_apisCopy head branch name to clipboard

Sep 27, 2024

+267-133

Conversation Commits10 (10)Checks Files changed

Commits

Commits on Sep 27, 2024

Update APIs of ContactModel abstract class
diegoferigo
committed
Align SoftContacts to new API of its base class and enhance modularity
diegoferigo
committed
Align RigidContacts to the new API of its base class
diegoferigo
committed
Align RelaxedRigidContacts to the new API of its base class
diegoferigo
committed
Update arguments passed to contact models when called to compute forces
diegoferigo
committed
Fix hash computation of PlaneTerrain
diegoferigo
committed
Fix AD test of soft contacts model
diegoferigo
committed
Move the update of the contact resources within the contact models
diegoferigo
committed
Move contact resources out from parent rbda package
diegoferigo
committed
Apply suggestions from code review

diegoferigo
and
flferretti
committed

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