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Handle auxiliary dictionary in variable step integrators #255

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merged 2 commits into from
Oct 4, 2024
Merged

Handle auxiliary dictionary in variable step integrators #255

merged 2 commits into from
Oct 4, 2024

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flferretti
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@flferretti flferretti commented Oct 4, 2024 •
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Fixes #254

📚 Documentation preview 📚: https://jaxsim--255.org.readthedocs.build//255/

@flferretti flferretti linked an issue Oct 4, 2024 that may be closed by this pull request
Variable step integrators produce ValueError during initialization #254
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@flferretti flferretti self-assigned this Oct 4, 2024
@flferretti flferretti changed the title Capture the integrated pytree only in variable step integrators Handle auxiliary dictionary in variable step integrators Oct 4, 2024
flferretti and others added 2 commits October 4, 2024 15:52
@flferretti flferretti force-pushed the fix/variable_step_integrators branch from 216b911 to 3305273 Compare October 4, 2024 13:52
@flferretti flferretti marked this pull request as ready for review October 4, 2024 13:53
diegoferigo
diegoferigo approved these changes Oct 4, 2024
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Great, thanks for the fix! We should also add a simple test on our integrators to prevent forgetting the propagation of API changes in the future.

src/jaxsim/integrators/variable_step.py Show resolved Hide resolved
@flferretti flferretti enabled auto-merge October 4, 2024 15:22
@flferretti flferretti merged commit 5c9215e into main Oct 4, 2024
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@flferretti flferretti deleted the fix/variable_step_integrators branch October 4, 2024 15:37
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@diegoferigo diegoferigo diegoferigo approved these changes

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Variable step integrators produce ValueError during initialization
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