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Implement parametric collision shapes scaling #430

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fe3202e
Simplify and speedup transform update
flferretti May 19, 2025
84583ae
Remove extra argument in `compute_inertia_link` and lint
flferretti May 19, 2025
1c0401b
Add parametrization support for joint-free models
flferretti May 20, 2025
4996684
Avoid inverting twice `L_H_G` transform
flferretti May 20, 2025
96c7f23
Avoid creating two full copies of `jnp.where` branch
flferretti May 20, 2025
0bdf326
Encapsulate `HwLinkMetadata.shape` as a static attribute
flferretti May 20, 2025
e2a3ee9
Reduce memory footprint of `_convert_scaling_to_3d_vector`
flferretti May 20, 2025
5eeb205
Refactor `compute_mass_and_inertia` to use static shapes
flferretti May 20, 2025
20c575b
Refactor handling of unsupported links
flferretti May 20, 2025
ecd182f
Update hardware parametrization tests
flferretti May 20, 2025
1da0c89
Clean up imports
flferretti May 20, 2025
9d2337a
Add unit test for collision elements scaling in hw parameters
xela-95 May 8, 2025
9fb0ff8
Import `MujocoCamera` in `mujoco` module
flferretti May 19, 2025
24f25d6
Make PyRight identify `jtp.PyTree` type as type
flferretti May 19, 2025
35d5de1
Add function to scale collidable shapes
flferretti May 19, 2025
6bec9af
Update collision shape scaling test
flferretti May 19, 2025
d4f54df
Update collision shapes in exported model
flferretti Jun 11, 2025
91ed685
Scale collidable shapes after centering on the origin
flferretti Jun 11, 2025
8d493cb
Use box primitive instead of the sphere
flferretti Jun 11, 2025
64eeba7
Give a random offset to XY base position in tests
flferretti Jun 13, 2025
f50f4ed
Fix shape error on multilink models
flferretti Jun 13, 2025
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