Road to BatchedPytorchWithoutJax - PR1 #122
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…ing in CasadiLike class
- attempt to mimic the numpy like behaviour in casadi like vector - implement stack function in CasadiSpatialMath
…te type hints in TorchLike class
…ComputationsParametric; remove unnecessary reshaping
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I will close this PR for the time being. We can open it as soon as we start again with this activity |
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This is the first PR in a long series (still a work in progress) aimed at creating a PyTorch interface that does not require going through JAX for enabling the batch operation
Important commits:
89b6a0b In this commit, I attempted to make the function that generates the rotation from RPY work with batches. To address the mismatch between CasADi and other NumPy-like arrays (PyTorch, NumPy, and JAX), I modified the
CasadiLikefunctions so that they behave similarly to NumPy. For instance:shapeproperty now behaves like the others.reshapefunction accounts for the fact that CasADi stores numbers in column-major order, while NumPy-like libraries store them in row-major order.9ea1952 Here, I made the skew function for PyTorch work with batches. Thanks to this modification, there is no longer a need to reshape the base velocity as was done in some algorithms (see
crba).📚 Documentation preview 📚: https://adam-docs--122.org.readthedocs.build/en/122/