Remove wrappers module and optimize JaxSimModel instantiation
#351
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wrappers module and optimize JaxSimModel instantiationwrappers module and optimize JaxSimModel instantiation
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After a bit of investigation, the main bottleneck when building the model is given by the call to Gazebo SDF, which usually takes a couple of seconds. I'd close this PR for the time being without removing the branch. We might want to bring this on in the future C.C. @ami-iit/darwin |
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This PR eliminates the
wrappersmodule and associated custom__hash__and__eq__dunder methods to streamline the codebase.📚 Documentation preview 📚: https://jaxsim--351.org.readthedocs.build//351/