Add rigid contacts model #149
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* Create `jaxsim.api.frame` module with `transform` function * Add `frame` module to `jaxsim.api` package * Add unit test for `jaxsim.api.frame` module * Add index-related functions to `frame` module * Add `test_frame_index` to `frame` unit tests * Add `jacobian` method to `frame` module * Add `test_frame_jacobians` to `frame` unit tests * Add `.vscode` to gitignore * Add `frame` module to sphynx documentation * Apply suggestions from code review Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com> Co-authored-by: Diego Ferigo <dgferigo@gmail.com> * Update frame.py * Add additional frame attached to link in box model * Refactor `test_frame_jacobians` to better debug jacobians not matching with iDynTree * Exclude from `test_frame_jacobians` the frames that are not loaded in KynDynComputations * Add `frame_parent_link_name` method to `KinDynComputations class` * Update code style of `frame.transform` function * WIP Update `test_frame_transforms` to print parent link frames and not fail at the first failed assertion * Update `test_frame_transforms` * Add single pendulum fixture in `conftest.py` * Clean `test_api_frames` * Fix retrieval of the frame's parent link index * Add function to get the frame's parent link index * Update frames test * Align link and joint tests * Removed unused tested model * Update tests to use new ROD URDF exporter function * Use plain integers for frame indices * Add JaxSimModel.frame_names * Fix regression raising TracerBoolConversionError when comparing pytrees * Temporarily disable test_pytree --------- Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com> Co-authored-by: Diego Ferigo <dgferigo@gmail.com> Co-authored-by: diegoferigo <diego.ferigo@iit.it>
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This PR adds a new rigid contacts model to the codebase.
📚 Documentation preview 📚: https://jaxsim--149.org.readthedocs.build//149/