Implement Runge-Kutta 4 integrator #373
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younik
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xela-95
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xela-95
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younik
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Feb 17, 2025
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This PR introduces a new Runge-Kutta 4 integration method and an
Integratorenum to select between available simulation integrators. Moreover, it adds NaN checks for quaternions and add apytestfixture for testing different integrators and updates theJaxSimModelto support integrator selection.📚 Documentation preview 📚: https://jaxsim--373.org.readthedocs.build//373/