added mjx comparison, modified pin example

based-robotics / jaxadi

Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, JAXADi enables the creation of efficient code that runs smoothly on CPUs, GPUs, and TPUs.

https://based-robotics.github.io/jaxadi/

MIT License

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added mjx comparison, modified pin example #3

Closed simeon-ned closed 2 months ago

simeon-ned commented 2 months ago

Enhanced examples with MJX comparison and improved Pinocchio example

Added MJX (MuJoCo XLA) comparison to existing examples
Modified Pinocchio example to use random inputs for more comprehensive testing
Performance analysis: MJX shows faster execution times, but with significantly longer compilation times
Note: Tests were conducted on CPU; GPU performance may differ"