feat: add pinocchio test

examples/03_pinocchio.py

@@ -0,0 +1,48 @@
+import casadi as ca
+import pinocchio as pin
+import pinocchio.casadi as cpin
+from robot_descriptions.panda_description import URDF_PATH
+import jax.numpy as jnp
+
+from jaxadi import translate, convert
+
+# Load the Panda robot model
+model = pin.buildModelFromUrdf(URDF_PATH)
+data = model.createData()
+
+# Transfer to casadi model
+cmodel = cpin.Model(model)
+cdata = cmodel.createData()
+
+# Define the joint configuration
+q = ca.SX.sym("q", model.nq)
+
+# Compute the forward kinematics
+cpin.framesForwardKinematics(cmodel, cdata, q)
+
+# Create casadi function of forward kinematics for end-effector
+omf = cdata.oMf[model.getFrameId("panda_hand_tcp")]
+fk = ca.Function("fk", [q], [omf.translation])
+
+# translate the casadi function to jax
+print(translate(fk, add_import=True, add_jit=True))
+
+jax_fn = convert(fk, compile=True)
+
+# Evaluate the function performance
+import timeit
+
+q_val = ca.np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0, 0])
+jax_q_val = jnp.array(q_val)
+
+print("Casadi evaluation:")
+print(fk(q_val))
+print("JAX evaluation:")
+print(jax_fn(jax_q_val))
+
+print("Performance comparison:")
+print("Casadi evaluation:")
+print(timeit.timeit(lambda: fk(q_val), number=100))
+
+print("JAX evaluation:")
+print(timeit.timeit(lambda: jax_fn(jax_q_val), number=100))