Diego Ferigo
Diego Ferigo
It's worth noting that (if I don't mistake) the fix works in our case only because the condition of the `if` operates on a static element (following [model](https://github.com/ami-iit/jaxsim/blob/7340d43172d5ec528f3f7547d532ffeb9770355d/src/jaxsim/api/model.py#L206-L217), [`kin_dyn_parameters`](https://github.com/ami-iit/jaxsim/blob/7340d43172d5ec528f3f7547d532ffeb9770355d/src/jaxsim/api/kin_dyn_parameters.py#L252-L260), [link_names](https://github.com/ami-iit/jaxsim/blob/7340d43172d5ec528f3f7547d532ffeb9770355d/src/jaxsim/api/kin_dyn_parameters.py#L35))....
> Most cases we saw were indeed due to `model.number_of_links() > 1` (and probably went unnoticed as it is not so common to integrate a rigid body without joints). We...
> The natural place I thought for this array is being an attribute of [RigidContactsState](https://github.com/xela-95/jaxsim/blob/ad6d4dca54bf7246761a6f6b5c22d74f08b1bf5a/src/jaxsim/rbda/contacts/rigid.py#L89-L93), since it is in fact a state of the contact model that needs to be...
- qpax is now on [PyPI](https://pypi.org/project/qpax), therefore we can update our `pyproject.toml` accordingly. - As soon as [conda-forge/staged-recipes#27329](https://github.com/conda-forge/staged-recipes/pull/27329) gets accepted, we can also update our `environment.yaml.`
PR deleted from `main` with a force push since I forgot to squash merge. #227 will replace it.
If you want to debug software on windows (good luck!) keep in mind that **ALL** the linked libraries must be compiled in debug. This means you need to link against...
> Regarding CasADi, we could maybe maintain the actual abstraction layer and implement a new backend for what we can unify. A sort of hybrid structure, eventually converging to a...
For the records, this is the function called to load a mesh in trimesh: https://trimesh.org/trimesh.html#trimesh.load
> @diegoferigo before merging this, do we want to set meshes support as default or should it be activated using an environment variable? Yes I need to properly assess the...
Reminder to myself: bump the version of the ROD dependency before merging this PR.