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Implement Jacobian with jax.lax.scan #16

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merged 1 commit into from
Sep 21, 2022

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This PR implements the doubly-left Jacobian algorithm with jax.lax.scan (#12), with two main benefits:

Doubly-left Jacobian Algorithm

Screenshot_20220920_165342

Here below a summary of the new Jacobian performance compared to the previous implementation, referring to the computation of the jacobian of the link with index = high_level_model.nr_of_links() - 1.

Model name DoFs JIT time JIT time speedup Runtime Runtime speedup
panda 9 1.13 s x2.7 532 µs x1.03
iCubGazeboV2_5 32 5.26 s x3.3 925 μs x1.00

The JIT time is now much lower than before. Instead, the runtime didn't change noticeably.

@diegoferigo diegoferigo self-assigned this Sep 20, 2022
@diegoferigo diegoferigo mentioned this pull request Sep 20, 2022
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@diegoferigo diegoferigo merged commit 7414921 into main Sep 21, 2022
@diegoferigo diegoferigo deleted the feature/jacobian_with_jax.lax.scan branch September 21, 2022 09:03
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2 participants