Alessandro Croci

Peek: 1.5.1 GTK: 3.24.30 GLib: 2.70.2 Desktop: ubuntu:GNOME Display server: X FFmpeg version: ``` ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers built with gcc 11 (Ubuntu 11.2.0-19ubuntu1) configuration:...

Expose quantities related to generic frames

43

Closes #147 ---- 📚 Documentation preview 📚: https://jaxsim--148.org.readthedocs.build//148/

Mismatch about default collision detector between SDFormat specification and Gazebo Sim documentaion

3

Hi, I noted that the SDF documentation about the default collision detector is different from the Gazebo sim one: - SDF says `fcl`: http://sdformat.org/spec?ver=1.11&elem=physics#dart_collision_detector - Gazebo sim says `ode`: https://github.com/gazebosim/gz-sim/blob/6cfcd07c346a72546963ed56ade48daa828c2072/tutorials/physics.md?plain=1#L100...

Add alternative rigid contact model

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---- 📚 Documentation preview 📚: https://jaxsim--218.org.readthedocs.build//218/

Impossible to run with JAX_DISABLE_JIT set to True model with zero dof

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Related issue on JAX: https://github.com/google/jax/issues/4668 The error is: ``` --------------------------------------------------------------------------- ValueError Traceback (most recent call last) File /home/acroci/repos/component_alpha/rigid_contacts_analytical.py:11 [7](https://file+.vscode-resource.vscode-cdn.net/home/acroci/repos/component_alpha/rigid_contacts_analytical.py:7) integration_time = 0.001 [9](https://file+.vscode-resource.vscode-cdn.net/home/acroci/repos/component_alpha/rigid_contacts_analytical.py:9) representation = jaxsim.VelRepr.Mixed ---> [11](https://file+.vscode-resource.vscode-cdn.net/home/acroci/repos/component_alpha/rigid_contacts_analytical.py:11) data =...

Fix typo