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Rewrite soft-contacts algorithm #34

Merged
merged 7 commits into from
Jun 9, 2023
Merged

Rewrite soft-contacts algorithm #34

merged 7 commits into from
Jun 9, 2023

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diegoferigo
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@diegoferigo diegoferigo commented Jun 9, 2023 •
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  • For maintainability purpose, the algorithm has been rewritten to operate on an individual point, and then applied model-wise through jax.vmap
  • The computation of the position and velocities of the collidable points now does not longer use removed jax.experimental resources

The theory of the contact model can be found in diegoferigo/phd-thesis:

  • Formulation in Section 7.3
  • Algorithm in Section 8.1.8

@diegoferigo diegoferigo self-assigned this Jun 9, 2023
@diegoferigo diegoferigo mentioned this pull request Jun 9, 2023
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cc @fl-ferr

@diegoferigo diegoferigo merged commit 2e50bf1 into main Jun 9, 2023
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@diegoferigo diegoferigo deleted the refactor/soft_contacts branch June 9, 2023 10:24
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