Diego Ferigo

> > Regardless, I'm still unsure how to integrate the new visco-elastic contacts with the default `jaxsim.model.step` function. What I just wrote is only necessary when the default integrators are...

@andreadelprete you might be interested in having a look at this PR. After we discussed about this methodology f2f, I was interested in drafting an implementation. In open-loop, it seems...

>>3. The new formulation does not integrate the contact dynamics in terms of displacement w.r.t. the anchor point $\mathbf{x} = [\Delta \mathbf{p}; \, \Delta \dot{\mathbf{p}}],$ but it integrates the contact...

> Ok, got it. So you get rid of p0 but you introduce m, so there is no gain in terms of quantity of information that you have to remember....

Yep, we already discussed this in https://github.com/ami-iit/jaxsim/pull/189#issuecomment-2194525004.

Hi @markusheimerl, thanks for the suggestion. We are aware that the documentation is currently lacking, so far we focused mainly on functionality. Many things have changed in the past few...

Waiting for more details that go beyond the docstrings of our code, for the time being I would probably redirect interested readers to Chapter 2 (_Robot modelling_), Chapter 7 (_Contact-aware...

We just merged in #265 and #261 new notebooks with few interesting use-cases. They might be worth a look for a primer on the considered use-cases.

I already encountered this problem in the past for similar reasons. Refer to: - https://github.com/ami-iit/jaxsim/pull/106 - https://github.com/ami-iit/jaxsim/commit/945f04b683c3519772ad4ec7bb916bacd4400a3f In that occasion, I fixed only the RBDAs that I needed. In your...

> This can be added to #186 Probably it's time to merge that PR. We're already a bit further than what I define "minor changes", as it often happens :smile: