Support passing a subset of links to be parametrized#489
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flferretti merged 2 commits intomainfrom Dec 10, 2025
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tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
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tests/test_benchmark.py::test_simulation_step[1] |
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tests/test_benchmark.py::test_update_hw_parameters[1] |
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| integrator: IntegratorType | None = None, | ||
| gravity: jtp.FloatLike = jaxsim.math.STANDARD_GRAVITY, | ||
| constraints: jaxsim.rbda.kinematic_constraints.ConstraintMap | None = None, | ||
| parametrized_links: tuple[str, ...] | None = None, |
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The new parameter is not used inside this function. Are we missing to pass it somewhere here?
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Yes sorry, I added this line with the intention of moving the instantiation of hardware link metadata in the build method rather than inside the build_from_model_description. If you agree I can add a commit for that in this PR
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I opened an issue at https://github.com/ami-iit/element_differentiable_simulators_for_codesign/issues/30. We will address this in the future as it requires deeper investigation. I'll leave this discussion unresolved
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@xela-95 this should be good to go. I restarted one failing job, but the failure was due to |
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This PR adds an option to pass a list of link names to be parametrized.
📚 Documentation preview 📚: https://jaxsim--489.org.readthedocs.build//489/