Compute free-floating Jacobian derivative using batched math operations #330
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@CarlottaSartore when you have time, could you please take a look at this? Thanks! |
Co-authored-by: Alessandro Croci <[email protected]>
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This PR implements a batched approach for computing the Jacobian derivative, enhancing performance and efficiency in the calculations. Adjustments were made to the input and output representations to streamline the process
📚 Documentation preview 📚: https://jaxsim--330.org.readthedocs.build//330/