ABA and RNEA with jax.lax.scan, Python 3.11, fixed bugs in other representations
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Co-authored-by: Filippo Luca Ferretti <filippo.ferretti@iit.it>
Co-authored-by: Filippo Luca Ferretti <filippo.ferretti@iit.it>
Xv denotes the adjoint for 6D velocities, Xf the adjoint for 6D forces
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jax.lax.scan, Python 3.11, fixed bugs in other representationsjax.lax.scan, Python 3.11, fixed bugs in other representations
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@diegoferigo great! Can we do a tag and/or release of this and rod? This would simplify the use of rod and jaxsim in the activities of the lab. |
Yep I'll look into it. |
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This is a quite big PR that I couldn't split easily in small ones. New features:
jax.lax.scan, therefore removing the deprecated experimental loops (thanks @fl-ferr for Implement ABA withjax.lax.scan#35, this PR inherits your changes) (fixing Fix RBDA to work on all representations (inertial, body, mixed) #13).jax.lax.scaninstead of plain for loops (fixing Implement RBDA withjax.lax.scan#12).jaxversions (fixing Solve unresolved dependency on jaxlib #27).jax_dataclassesbreaking changes (fixing Fix incompatibility withjax_dataclasses > 1.3.0#36).