Initial support of parametric hardware models #101
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Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
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This was referenced Mar 18, 2024
This was referenced Mar 26, 2024
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Currently, JaxSim builds three models from a model description (URDF, SDF):
jaxsim.parsers.descriptions.ModelDescriptionjaxsim.physics.model.PhysicsModeljaxsim.api.model.JaxSimModel(functional replacement of the formerjaxsim.high_level.model.Model)One of the objective of the new functional APIs (#108) is to expose a set of hardware parameters so that downstream projects can compute their gradient by exploiting automatic differentiation.
This PR introduces the initial support towards this goal. Particularly:
KinDynParametersclass, stored insideJaxSimModel, that will soon replacePhysicsModel. Its aim is to act as a simple container of joint, link, and contact parameters, with useful setters for updating them without re-creating from scratch a newJaxSimModelobject.PhysicsModeltoJaxSimModel(will be finalized in #112).📚 Documentation preview 📚: https://jaxsim--101.org.readthedocs.build//101/