jaxsim 0.1.dev401__py3-none-any.whl → 0.2.0__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- jaxsim/__init__.py +5 -6
- jaxsim/_version.py +2 -2
- jaxsim/api/__init__.py +3 -0
- jaxsim/api/com.py +240 -0
- jaxsim/api/common.py +216 -0
- jaxsim/api/contact.py +271 -0
- jaxsim/api/data.py +821 -0
- jaxsim/api/joint.py +189 -0
- jaxsim/api/kin_dyn_parameters.py +777 -0
- jaxsim/api/link.py +361 -0
- jaxsim/api/model.py +1633 -0
- jaxsim/api/ode.py +295 -0
- jaxsim/api/ode_data.py +694 -0
- jaxsim/api/references.py +421 -0
- jaxsim/integrators/__init__.py +2 -0
- jaxsim/integrators/common.py +594 -0
- jaxsim/integrators/fixed_step.py +102 -0
- jaxsim/integrators/variable_step.py +610 -0
- jaxsim/math/__init__.py +11 -0
- jaxsim/math/adjoint.py +24 -2
- jaxsim/math/joint_model.py +335 -0
- jaxsim/math/quaternion.py +44 -3
- jaxsim/math/rotation.py +4 -4
- jaxsim/math/transform.py +92 -0
- jaxsim/mujoco/__init__.py +3 -0
- jaxsim/mujoco/__main__.py +192 -0
- jaxsim/mujoco/loaders.py +615 -0
- jaxsim/mujoco/model.py +414 -0
- jaxsim/mujoco/visualizer.py +176 -0
- jaxsim/parsers/descriptions/collision.py +14 -0
- jaxsim/parsers/descriptions/link.py +13 -2
- jaxsim/parsers/kinematic_graph.py +8 -3
- jaxsim/parsers/rod/parser.py +54 -38
- jaxsim/parsers/rod/utils.py +7 -8
- jaxsim/rbda/__init__.py +7 -0
- jaxsim/rbda/aba.py +295 -0
- jaxsim/rbda/collidable_points.py +142 -0
- jaxsim/{physics/algos → rbda}/crba.py +43 -42
- jaxsim/rbda/forward_kinematics.py +113 -0
- jaxsim/rbda/jacobian.py +201 -0
- jaxsim/rbda/rnea.py +237 -0
- jaxsim/rbda/soft_contacts.py +296 -0
- jaxsim/rbda/utils.py +152 -0
- jaxsim/terrain/__init__.py +2 -0
- jaxsim/{physics/algos → terrain}/terrain.py +4 -6
- jaxsim/typing.py +30 -30
- jaxsim/utils/__init__.py +1 -4
- jaxsim/utils/hashless.py +18 -0
- jaxsim/utils/jaxsim_dataclass.py +281 -31
- {jaxsim-0.1.dev401.dist-info → jaxsim-0.2.0.dist-info}/LICENSE +1 -1
- jaxsim-0.2.0.dist-info/METADATA +237 -0
- jaxsim-0.2.0.dist-info/RECORD +64 -0
- {jaxsim-0.1.dev401.dist-info → jaxsim-0.2.0.dist-info}/WHEEL +1 -1
- jaxsim/high_level/__init__.py +0 -2
- jaxsim/high_level/common.py +0 -11
- jaxsim/high_level/joint.py +0 -148
- jaxsim/high_level/link.py +0 -259
- jaxsim/high_level/model.py +0 -1695
- jaxsim/math/conv.py +0 -114
- jaxsim/math/joint.py +0 -101
- jaxsim/math/plucker.py +0 -100
- jaxsim/physics/__init__.py +0 -12
- jaxsim/physics/algos/__init__.py +0 -0
- jaxsim/physics/algos/aba.py +0 -256
- jaxsim/physics/algos/aba_motors.py +0 -284
- jaxsim/physics/algos/forward_kinematics.py +0 -79
- jaxsim/physics/algos/jacobian.py +0 -98
- jaxsim/physics/algos/rnea.py +0 -180
- jaxsim/physics/algos/rnea_motors.py +0 -196
- jaxsim/physics/algos/soft_contacts.py +0 -454
- jaxsim/physics/algos/utils.py +0 -69
- jaxsim/physics/model/__init__.py +0 -0
- jaxsim/physics/model/ground_contact.py +0 -55
- jaxsim/physics/model/physics_model.py +0 -358
- jaxsim/physics/model/physics_model_state.py +0 -174
- jaxsim/simulation/__init__.py +0 -4
- jaxsim/simulation/integrators.py +0 -452
- jaxsim/simulation/ode.py +0 -290
- jaxsim/simulation/ode_data.py +0 -53
- jaxsim/simulation/ode_integration.py +0 -125
- jaxsim/simulation/simulator.py +0 -544
- jaxsim/simulation/simulator_callbacks.py +0 -53
- jaxsim/simulation/utils.py +0 -15
- jaxsim/sixd/__init__.py +0 -2
- jaxsim/utils/oop.py +0 -532
- jaxsim/utils/vmappable.py +0 -117
- jaxsim-0.1.dev401.dist-info/METADATA +0 -167
- jaxsim-0.1.dev401.dist-info/RECORD +0 -64
- {jaxsim-0.1.dev401.dist-info → jaxsim-0.2.0.dist-info}/top_level.txt +0 -0
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import argparse
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import pathlib
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import sys
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import time
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import numpy as np
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from . import MujocoModelHelper, MujocoVisualizer, SdfToMjcf, UrdfToMjcf
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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prog="jaxsim.mujoco",
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description="Process URDF and SDF files for Mujoco usage.",
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)
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parser.add_argument(
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"-d",
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"--description",
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required=True,
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metavar="INPUT_FILE",
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type=pathlib.Path,
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help="Path to the URDF or SDF file.",
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)
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parser.add_argument(
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"-m",
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"--model-name",
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metavar="NAME",
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type=str,
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default=None,
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help="The target model of a SDF description if multiple models exists.",
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)
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parser.add_argument(
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"-e",
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"--export",
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metavar="MJCF_FILE",
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type=pathlib.Path,
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default=None,
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help="Path to the exported MJCF file.",
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)
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parser.add_argument(
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"-f",
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"--force",
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action="store_true",
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default=False,
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help="Override the output MJCF file if it already exists (default: %(default)s).",
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)
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parser.add_argument(
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"-p",
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"--print",
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action="store_true",
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default=False,
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help="Print in the stdout the exported MJCF string (default: %(default)s).",
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)
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parser.add_argument(
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"-v",
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"--visualize",
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action="store_true",
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default=False,
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help="Visualize the description in the Mujoco viewer (default: %(default)s).",
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)
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parser.add_argument(
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"-b",
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"--base-position",
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metavar=("x", "y", "z"),
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nargs=3,
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type=float,
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default=None,
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help="Override the base position (supports only floating-base models).",
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)
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parser.add_argument(
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"-q",
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"--base-quaternion",
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metavar=("w", "x", "y", "z"),
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nargs=4,
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type=float,
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default=None,
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help="Override the base quaternion (supports only floating-base models).",
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)
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args = parser.parse_args()
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# ==================
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# Validate arguments
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# ==================
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# Expand the path of the URDF/SDF file if not absolute.
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if args.description is not None:
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args.description = (
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(
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args.description
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if args.description.is_absolute()
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else pathlib.Path.cwd() / args.description
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)
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.expanduser()
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.absolute()
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)
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if not pathlib.Path(args.description).is_file():
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msg = f"The URDF/SDF file '{args.description}' does not exist."
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parser.error(msg)
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sys.exit(1)
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# Expand the path of the output MJCF file if not absolute.
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if args.export is not None:
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args.export = (
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(
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args.export
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if args.export.is_absolute()
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else pathlib.Path.cwd() / args.export
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)
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.expanduser()
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.absolute()
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)
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if pathlib.Path(args.export).is_file() and not args.force:
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msg = "The output file '{}' already exists, use '--force' to override."
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parser.error(msg.format(args.export))
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sys.exit(1)
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# ================================================
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# Load the URDF/SDF file and produce a MJCF string
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# ================================================
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match args.description.suffix.lower()[1:]:
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case "urdf":
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mjcf_string, assets = UrdfToMjcf().convert(urdf=args.description)
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case "sdf":
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mjcf_string, assets = SdfToMjcf().convert(
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sdf=args.description, model_name=args.model_name
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)
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case _:
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msg = f"The file extension '{args.description.suffix}' is not supported."
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parser.error(msg)
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sys.exit(1)
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if args.print:
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print(mjcf_string, flush=True)
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# ========================================
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# Write the MJCF string to the output file
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# ========================================
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if args.export is not None:
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with open(args.export, "w+", encoding="utf-8") as file:
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file.write(mjcf_string)
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# =======================================
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# Visualize the MJCF in the Mujoco viewer
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# =======================================
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if args.visualize:
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mj_model_helper = MujocoModelHelper.build_from_xml(
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mjcf_description=mjcf_string, assets=assets
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)
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viz = MujocoVisualizer(model=mj_model_helper.model, data=mj_model_helper.data)
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with viz.open() as viewer:
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with viewer.lock():
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if args.base_position is not None:
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mj_model_helper.set_base_position(
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position=np.array(args.base_position)
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)
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if args.base_quaternion is not None:
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mj_model_helper.set_base_orientation(
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orientation=np.array(args.base_quaternion)
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)
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viz.sync(viewer=viewer)
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while viewer.is_running():
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time.sleep(0.500)
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# =============================
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# Exit the program with success
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# =============================
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sys.exit(0)
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