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Implement Runge-Kutta 4 integrator#373

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flferretti merged 12 commits intomainami-iit/jaxsim:mainfrom feature/rk4ami-iit/jaxsim:feature/rk4Copy head branch name to clipboardFeb 18, 2025

+148-11

Commits

Commits on Feb 18, 2025

• Make js.ode.system_dynamics return a PyTree

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  340e2b4

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• Implement Runge-Kutta 4 integration

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  79ac454

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• Add Integrator enum to define available simulation integrators

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  476579b

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• Add NaN check for quaternions

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• Add Integrator option in JaxSimModel

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• Add pytest fixture for simulation integrators

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• Refactor state derivative function to use private attributes for data access

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• Replace Integrator with IntegratorType

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  39146eb

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• Simplify handling of ODE state

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• Fix integrator type identification

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  a6af3b9

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• Update docstrings and return type of js.ode.system_dynamics

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• Fix import in tests

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