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CusADi2: Latency-Optimized Batch Computation of Robot Kinematics, Jacobians, and Hessians on the GPU
Trajectory optimization methods, from sampling-based zero-order to gradient-based first- and second-order approaches, require many evaluations of dynamical system functions, i.e., functions derived from a robot's dynamical model, such as forward kinematics and their Jacobians and Hessians. These eva
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