#2)

* Added clearer explanation at the end of Tutorial 0 and fixed typo in wget for motion planning example.

* Added license header to tactile_pose_estimation.py.

* Add plots to tutorials

* add semicolon to stop spurious matplotlib prints; fix typo; rerun all cells

* rerun tutorials 1 and 2 with python 3.8

Co-authored-by: Mustafa Mukadam <[email protected]>

* update text in Tutorial 2 per issue #27

Co-authored-by: Shobha Venkataraman <[email protected]>
Co-authored-by: Mustafa Mukadam <[email protected]>

* update continuous integration
* update cuda installs in ci
* fix install of torch tools in ci

Co-authored-by: Maurizio Monge <[email protected]>

* cublas-based sparse LU solver class
* update cuda installs in ci
* add test to ci
* add C++ extensions to gitignore

Co-authored-by: Maurizio Monge <[email protected]>

* update continuous integration

* cublas-based sparse LU solver class

* batched sparse cuda matrix operations

* update cuda installs in ci

* add test to ci

* add missing files

* add missing files

* fix install of torch tools in ci

* add missing new line

* add C++ extensions to gitignore

* clear lingering printf

* license, move tests and utils

* license, move tests

* fix tests in ci

* fix comparisons

* rename util to random_sparse_binary_matrix, rename init_batch_size for clarity

* rename util to random_sparse_binary_matrix

* restore looping idiom, random_sparse_binary_matrix in toplevel __init__

* re-remove from toplevel init

* cols/rows -> num_cols/num_rows

* cols/rows -> num_cols/num_rows

Co-authored-by: Maurizio Monge <[email protected]>

* add tests for leo with GN/LM optimizers
* add sampler to GN/LM optimizers
* run leo on 2d state estimation, add viz, learning_method options

* Initial WIP commit of implicit/truncated backward modes

* spacing

* add numdifftools requirement

* fix mypy and GPU issues

* import BackwardMode as part of the main thesus module

* add ValueError messages

* add comments to backward_modes and add it to examples/README

* Remove error_increase_induces

* move converged_indices from the info back into the optimizaiton loop

* fix gradient scaling for #39

* update backward tests

* add type hints/remove unused track_best_solution

* remove erroneous update

…e dict (#45)

* [refactor] Changed TheseusLayer so that optimizer_kwargs are passed as a single dict.

* Updated all tutorials to use optimizer_kwargs dict in forward().

* Updated examples to use optimizer_kwargs dict in forward().

* Add additional test to check that TheseusLayer.forward(aux_vars=) is not accepted.

* update continuous integration

* cublas-based sparse LU solver class

* batched sparse cuda matrix operations

* cuda-based sparse autograd function and solver

* update cuda installs in ci

* add test to ci

* fix install of torch tools in ci

* add C++ extensions to gitignore

* add support for damping in cusolver lu solver (all types)

* testing multiple solver contexts

* add cuda mark to tests requiring cuda

Co-authored-by: Maurizio Monge <[email protected]>

Co-authored-by: Maurizio Monge <[email protected]>