Allow batch computations for jacobian with pytorch

ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

https://adam-docs.readthedocs.io/en/latest/

BSD 3-Clause "New" or "Revised" License

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Allow batch computations for jacobian with pytorch #75

Open evelyd opened 6 months ago

evelyd commented 6 months ago

Made the necessary changes to allow batch computations with pytorch (did not test other modalities) for the jacobian, forward kinematics, and all the functions used by those.