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initial impl, separated scan and pose update, used jax (numba doesn't… #171

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initial impl, separated scan and pose update, used jax (numba doesn't…

initial impl, separated scan and pose update, used jax (numba doesn't… #171

Run time

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Job Run time
build (3.9)
32s
build (3.10)
33s
build (3.11)
28s
1m 33s