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Improve JaxSim backend #24

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Improve JaxSim backend #24

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diegoferigo
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@diegoferigo diegoferigo commented Oct 22, 2024 •
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Some changes to make the JaxSim backend work on all current contact models.

@diegoferigo diegoferigo self-assigned this Oct 22, 2024
@diegoferigo diegoferigo force-pushed the improve_jaxsim_backend branch from 58db283 to dffd6e8 Compare October 24, 2024 07:19
@diegoferigo diegoferigo marked this pull request as ready for review November 5, 2024 14:22
xela-95
xela-95 approved these changes Nov 5, 2024
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Thanks a lot @diegoferigo! Ok for me 🚀

flferretti
flferretti approved these changes Nov 5, 2024
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Thanks a lot Diego, LGTM

@CarlottaSartore
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Thanks @diegoferigo !
By any chance Did you check that the changes do not affect the other examples? e.g. walking with mujoco ?

@diegoferigo
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Thanks @diegoferigo ! By any chance Did you check that the changes do not affect the other examples? e.g. walking with mujoco ?

I actually did not, and in this moment I'm going through a change of setup. I'm not sure how quick I can try. If there's interest in moving this PR forward in short time, is there anyone with a setup that is already good to go?

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NP @xela-95 will do it !

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We double check with @xela-95 and there are some issues with comodo main. I will double check everything before merging this PR.

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@flferretti flferretti flferretti approved these changes

@xela-95 xela-95 xela-95 approved these changes

@CarlottaSartore CarlottaSartore Awaiting requested review from CarlottaSartore

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@diegoferigo diegoferigo

@CarlottaSartore CarlottaSartore

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@diegoferigo @CarlottaSartore @xela-95 @flferretti