First JAXsim version #1
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traversaro
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May 18, 2022
Co-authored-by: Silvio Traversaro <silvio@traversaro.it>
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Allow passing terrain definition, soft contacts parameters, and ODE input
- Use jax.tree_utils.tree_map instead of jax.tree_map - Use jax.lax.scan instead of jax.lax.fori_loop - Always return the aux dictionary at t0 (beginning of integration step)
- require [sdf] packages - restrict jax and jax_dataclasses versions - alphabetize list
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- Return the StepData of all simulated models - Introduce support of clearing model inputs after stepping
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Initial version of JAXsim.