Refactor integration handling and add kinematics computation caching #354
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Streamline `integrators` module changes to testing suite
Previously part of SoftContacts
…act model handling
… model handling comodo walking working, no unit tests tried
…s methods from ContactModel
…representation and remove unused methods
…ial representation
… velocity representation
…nction for clarity
… clarifying parameter descriptions
flferretti
force-pushed
the
sprint/merge
branch
from
f37f14c to
1025332
Compare
|
This is a replica of #366 ! Closing ! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR refactors the integration module and adds the implementation of intermediate kinematics quantities caching, drastically improving the simulation performances.
📚 Documentation preview 📚: https://jaxsim--354.org.readthedocs.build//354/