Allow to insert models from rod objects
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diegoferigo
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flferretti
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Aug 4, 2023
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This change enables to bypass entirely URDF / SDF descriptions (both files and strings).
It can be extremely useful in robot learning applications where the model has to be changed programmatically. Right now, even if the application has an in-memory rod model (that is easy to modify), it has to either serialize to string or write to file before passing it to jaxsim. Now, paying the price of extra time necessary for the parsing, the rod object can be edited in-memory and passed directly to jaxsim.
This is also useful, for example, to perform domain randomization in a highly parallel simulation.