Refactor integrators
module and redefine JaxSimModel
class attributes
#252
+116
−223
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This pull request includes several changes to the integrators logic and API. The
JaxSimModel
class now incorporatesintegrator
anddt
as static attributes. In order to do this, it was necessary to refactor thejaxsim.integrators
module in order to simplify the logic by removing theinit
method.The integrators logic is simplified by avoiding the use of
integrator_state
to pass around variables and makingwrap_system_dynamics_for_integration
accept only the function describing the dynamics of the system, sincemodel
anddata
were required arguments for the integration anyway.📚 Documentation preview 📚: https://jaxsim--252.org.readthedocs.build//252/