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The current
jaxsim.typing
module is rather old, it was developed whenjax.Array
andjax.typing.ArrayLike
did not exist.Now that we have them, we can transition towards something more readable. I propose the following target:
jaxsim.typing.*Like
for type hinting input arguments that might be python scalars, numpy arrays, or jax arrays (note that static arguments must be hashable and therefore cannot be arrays).jaxsim.typing.*
(withoutLike
) for type hinting output arguments, that are all jax numpy arrays.We currently have
jaxsim.typing.*Jax
for jax-only types, that should be ported to their corresponding types without theJax
suffix.📚 Documentation preview 📚: https://jaxsim--71.org.readthedocs.build/en/71/