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Allow pytorch batching using jax2torch #93

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merged 16 commits into from
Jun 27, 2024
Merged

Allow pytorch batching using jax2torch #93

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5d130e3
Add pytorch batch interface
Giulero Jun 27, 2024
5018c96
Add in init
Giulero Jun 27, 2024
27e08b0
Add dependency
Giulero Jun 27, 2024
003f99f
Add tests on batching
Giulero Jun 27, 2024
46f0265
Adding forgotten gravity term function
Giulero Jun 27, 2024
af1e266
Remove comment
Giulero Jun 27, 2024
27d33a9
Remove return True
Giulero Jun 27, 2024
9c965bc
Update ci_env with jax2torch dep. Waiting for conda recipe
Giulero Jun 27, 2024
235f054
Add pytorch batched usage in readme
Giulero Jun 27, 2024
e5f3ca3
Add additional notes
Giulero Jun 27, 2024
9e83e1d
Other notes
Giulero Jun 27, 2024
b20b15d
Move notes into boxes
Giulero Jun 27, 2024
2b0c32f
Fix typo
Giulero Jun 27, 2024
4fc6e05
Fix typo
Giulero Jun 27, 2024
18f07e6
Sort imports
Giulero Jun 27, 2024
9d37316
Align in_axis in functions
Giulero Jun 27, 2024
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3 changes: 2 additions & 1 deletion ci_env.yml
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Expand Up @@ -16,6 +16,7 @@ dependencies:
- pytest-repeat
- icub-models
- idyntree >=11.0.0
- gitpython
- gitpython
- jax
- pytorch
- jax2torch
6 changes: 6 additions & 0 deletions setup.cfg
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Expand Up @@ -44,6 +44,9 @@ casadi =
casadi
pytorch =
torch
jax
jaxlib
jax2torch
test =
jax
jaxlib
Expand All @@ -54,13 +57,16 @@ test =
icub-models
black
gitpython
jax2torch

conversions =
idyntree
all =
jax
jaxlib
casadi
torch
jax2torch

[tool:pytest]
addopts = --capture=no --verbose
1 change: 1 addition & 0 deletions src/adam/pytorch/__init__.py
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Expand Up @@ -3,4 +3,5 @@
# GNU Lesser General Public License v2.1 or any later version.

from .computations import KinDynComputations
from .computation_batch import KinDynComputationsBatch
from .torch_like import TorchLike
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