Refactor integrators module and redefine JaxSimModel class attributes
#252
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@diegoferigo I modified the logic to be backward compatible, so it should still be compatible with parametric models |
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Change the name of the auxiliary dictionary to `metadata`, since `state` is misleading.
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Co-authored-by: Filippo Luca Ferretti <[email protected]>
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diegoferigo
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Oct 30, 2024
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| integrator: Static[jaxsim.integrators.Integrator | None] = dataclasses.field( | ||
| default=None, repr=False | ||
| ) | ||
|
|
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Let's keep an eye open on the hash of this attribute in the future if we face the usual problems on static elements.
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Thanks Diego! Leaving unresolved
diegoferigo
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Oct 30, 2024
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This pull request includes several changes to the integrators logic and API. The
JaxSimModelclass now incorporatesintegratoranddtas static attributes. In order to do this, it was necessary to refactor thejaxsim.integratorsmodule in order to simplify the logic by removing theinitmethod.The integrators logic is simplified by avoiding the use of
integrator_stateto pass around variables and makingwrap_system_dynamics_for_integrationaccept only the function describing the dynamics of the system, sincemodelanddatawere required arguments for the integration anyway.📚 Documentation preview 📚: https://jaxsim--252.org.readthedocs.build//252/