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Improve JaxSim backend#24

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CarlottaSartore merged 14 commits intomainami-iit/comodo:mainfrom improve_jaxsim_backendami-iit/comodo:improve_jaxsim_backendCopy head branch name to clipboardJan 16, 2025

+187-124

Commits

Commits on Oct 24, 2024

• Sort imports

  diegoferigo

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  962b2a9

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• Update JaxsimSimulator class

  diegoferigo

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  1ec9653

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• Regularize the joints with the desired position

  diegoferigo

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  d1012d6

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• Regularize the TSID wrenches with those planned by the MPC

  diegoferigo

  committed
  5468ad8

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• Allow scaling the foot shape considered in the centroidal mpc

  diegoferigo

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  e227947

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• Sort imports

  diegoferigo

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  0017d38

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• Provide working configuration with soft-like contact models

  diegoferigo

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  dffd6e8

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Commits on Nov 5, 2024

• Step using the dt passed to JaxsimSimulator

  diegoferigo

  committed
  02171c0

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• Update how the integrator is stored in JaxsimSimulator

  diegoferigo

  committed
  3c49ec0

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• Remove to specify custom parameter in RelaxedRigidContactsParams

  diegoferigo

  committed
  7508ad6

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• Make planners more conservative on the considered friction

  diegoferigo

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  4495950

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• Make step function compatible with base class

  diegoferigo

  committed
  54cdbce

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Commits on Nov 22, 2024

• Adjust TSID and MPC parameters in jaxsim_walking notebook to improve control of walking trajectories

  xela-95

  committed
  dfffeab

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Commits on Jan 16, 2025

• added new regularization of the wrenches

  CarlottaSartore

  committed
  d6b8bc1

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