Fix passing different PyTrees to JIT-compiled functions #165
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This PR also fixes the M(N)WE provided by @flferretti in #103 (comment) (hopefully, without side effects). |
Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
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This PR should finally solve #103 also for models with joints, in particular:
__eq__magic method of all classes that are used in JIT compiled functions.jaxsim.utils.wrappers.HashedNumpyArraythat can wrap NumPy and JAX NumPy array to provide them a hash and equality operators. This is necessary for alljax_dataclasses.Staticfields storing arrays.HashedNumpyArrayandHashlessObjectexposing only the underlying object through a class property.JointModel.joint_axisattribute to properly containJointGenericAxisobjects. Before this PR (from #153 I guess), this attribute was typed to hold aJointGenericAxisbut instead it stored plain JAX numpy arrays with the 3D vector of the axis.📚 Documentation preview 📚: https://jaxsim--165.org.readthedocs.build//165/