Remove include_coriolis from dynamical_matrices_fn call

mstoelzle · mstoelzle · commit 9f5b7c8583b3 · 2024-11-08T12:41:31.000-05:00
diff --git a/examples/simulate_planar_pcs.py b/examples/simulate_planar_pcs.py
@@ -102,7 +102,7 @@ def draw_robot(
         planar_pcs.factory(sym_exp_filepath, strain_selector)
     )
     # jit the functions
-    dynamical_matrices_fn = jax.jit(partial(dynamical_matrices_fn, include_coriolis=True))
+    dynamical_matrices_fn = jax.jit(partial(dynamical_matrices_fn))
     batched_forward_kinematics = vmap(
         forward_kinematics_fn, in_axes=(None, None, 0), out_axes=-1
     )

Original file line number	Diff line number	Diff line change
`@@ -102,7 +102,7 @@ def draw_robot(`
`102`	`102`	`planar_pcs.factory(sym_exp_filepath, strain_selector)`
`103`	`103`	`)`
`104`	`104`	`# jit the functions`
`105`		`- dynamical_matrices_fn = jax.jit(partial(dynamical_matrices_fn, include_coriolis=True))`
	`105`	`+ dynamical_matrices_fn = jax.jit(partial(dynamical_matrices_fn))`
`106`	`106`	`batched_forward_kinematics = vmap(`
`107`	`107`	`forward_kinematics_fn, in_axes=(None, None, 0), out_axes=-1`
`108`	`108`	`)`