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ami-iit / comodo

Suite of parametrized controller with simulation environments for co-design of Humanoid Robots
BSD 3-Clause "New" or "Revised" License
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Improve JaxSim backend #24

Open diegoferigo opened 1 month ago

diegoferigo commented 1 month ago

Some changes to make the JaxSim backend work on all current contact models.

CarlottaSartore commented 2 weeks ago

Thanks @diegoferigo ! By any chance Did you check that the changes do not affect the other examples? e.g. walking with mujoco ?

diegoferigo commented 2 weeks ago

Thanks @diegoferigo ! By any chance Did you check that the changes do not affect the other examples? e.g. walking with mujoco ?

I actually did not, and in this moment I'm going through a change of setup. I'm not sure how quick I can try. If there's interest in moving this PR forward in short time, is there anyone with a setup that is already good to go?

CarlottaSartore commented 2 weeks ago

NP @xela-95 will do it !

CarlottaSartore commented 1 week ago

We double check with @xela-95 and there are some issues with comodo main. I will double check everything before merging this PR.