jaxsim 0.1.dev401__py3-none-any.whl → 0.2.0__py3-none-any.whl

jaxsim/api/data.py

@@ -0,0 +1,821 @@
+from __future__ import annotations
+
+import dataclasses
+import functools
+from typing import Sequence
+
+import jax
+import jax.numpy as jnp
+import jax_dataclasses
+import jaxlie
+import numpy as np
+
+import jaxsim.api as js
+import jaxsim.rbda
+import jaxsim.typing as jtp
+from jaxsim.math import Quaternion
+from jaxsim.utils import Mutability
+from jaxsim.utils.tracing import not_tracing
+
+from . import common
+from .common import VelRepr
+from .ode_data import ODEState
+
+try:
+    from typing import Self
+except ImportError:
+    from typing_extensions import Self
+
+
+@jax_dataclasses.pytree_dataclass
+class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
+    """
+    Class containing the state of a `JaxSimModel` object.
+    """
+
+    state: ODEState
+
+    gravity: jtp.Array
+
+    soft_contacts_params: jaxsim.rbda.SoftContactsParams = dataclasses.field(repr=False)
+
+    time_ns: jtp.Int = dataclasses.field(
+        default_factory=lambda: jnp.array(0, dtype=jnp.uint64)
+    )
+
+    def valid(self, model: js.model.JaxSimModel | None = None) -> bool:
+        """
+        Check if the current state is valid for the given model.
+
+        Args:
+            model: The model to check against.
+
+        Returns:
+            `True` if the current state is valid for the given model, `False` otherwise.
+        """
+
+        valid = True
+        valid = valid and self.standard_gravity() > 0
+
+        if model is not None:
+            valid = valid and self.state.valid(model=model)
+
+        return valid
+
+    @staticmethod
+    def zero(
+        model: js.model.JaxSimModel,
+        velocity_representation: VelRepr = VelRepr.Inertial,
+    ) -> JaxSimModelData:
+        """
+        Create a `JaxSimModelData` object with zero state.
+
+        Args:
+            model: The model for which to create the zero state.
+            velocity_representation: The velocity representation to use.
+
+        Returns:
+            A `JaxSimModelData` object with zero state.
+        """
+
+        return JaxSimModelData.build(
+            model=model, velocity_representation=velocity_representation
+        )
+
+    @staticmethod
+    def build(
+        model: js.model.JaxSimModel,
+        base_position: jtp.Vector | None = None,
+        base_quaternion: jtp.Vector | None = None,
+        joint_positions: jtp.Vector | None = None,
+        base_linear_velocity: jtp.Vector | None = None,
+        base_angular_velocity: jtp.Vector | None = None,
+        joint_velocities: jtp.Vector | None = None,
+        standard_gravity: jtp.FloatLike = jaxsim.math.StandardGravity,
+        soft_contacts_state: js.ode_data.SoftContactsState | None = None,
+        soft_contacts_params: jaxsim.rbda.SoftContactsParams | None = None,
+        velocity_representation: VelRepr = VelRepr.Inertial,
+        time: jtp.FloatLike | None = None,
+    ) -> JaxSimModelData:
+        """
+        Create a `JaxSimModelData` object with the given state.
+
+        Args:
+            model: The model for which to create the state.
+            base_position: The base position.
+            base_quaternion: The base orientation as a quaternion.
+            joint_positions: The joint positions.
+            base_linear_velocity:
+                The base linear velocity in the selected representation.
+            base_angular_velocity:
+                The base angular velocity in the selected representation.
+            joint_velocities: The joint velocities.
+            standard_gravity: The standard gravity constant.
+            soft_contacts_state: The state of the soft contacts.
+            soft_contacts_params: The parameters of the soft contacts.
+            velocity_representation: The velocity representation to use.
+            time: The time at which the state is created.
+
+        Returns:
+            A `JaxSimModelData` object with the given state.
+        """
+
+        base_position = jnp.array(
+            base_position if base_position is not None else jnp.zeros(3)
+        ).squeeze()
+
+        base_quaternion = jnp.array(
+            base_quaternion
+            if base_quaternion is not None
+            else jnp.array([1.0, 0, 0, 0])
+        ).squeeze()
+
+        base_linear_velocity = jnp.array(
+            base_linear_velocity if base_linear_velocity is not None else jnp.zeros(3)
+        ).squeeze()
+
+        base_angular_velocity = jnp.array(
+            base_angular_velocity if base_angular_velocity is not None else jnp.zeros(3)
+        ).squeeze()
+
+        gravity = jnp.zeros(3).at[2].set(-standard_gravity)
+
+        joint_positions = jnp.atleast_1d(
+            joint_positions.squeeze()
+            if joint_positions is not None
+            else jnp.zeros(model.dofs())
+        )
+
+        joint_velocities = jnp.atleast_1d(
+            joint_velocities.squeeze()
+            if joint_velocities is not None
+            else jnp.zeros(model.dofs())
+        )
+
+        time_ns = (
+            jnp.array(time * 1e9, dtype=jnp.uint64)
+            if time is not None
+            else jnp.array(0, dtype=jnp.uint64)
+        )
+
+        soft_contacts_params = (
+            soft_contacts_params
+            if soft_contacts_params is not None
+            else js.contact.estimate_good_soft_contacts_parameters(
+                model=model, standard_gravity=standard_gravity
+            )
+        )
+
+        W_H_B = jaxlie.SE3.from_rotation_and_translation(
+            translation=base_position,
+            rotation=jaxlie.SO3.from_quaternion_xyzw(
+                base_quaternion[jnp.array([1, 2, 3, 0])]
+            ),
+        ).as_matrix()
+
+        v_WB = JaxSimModelData.other_representation_to_inertial(
+            array=jnp.hstack([base_linear_velocity, base_angular_velocity]),
+            other_representation=velocity_representation,
+            transform=W_H_B,
+            is_force=False,
+        )
+
+        ode_state = ODEState.build_from_jaxsim_model(
+            model=model,
+            base_position=base_position.astype(float),
+            base_quaternion=base_quaternion.astype(float),
+            joint_positions=joint_positions.astype(float),
+            base_linear_velocity=v_WB[0:3].astype(float),
+            base_angular_velocity=v_WB[3:6].astype(float),
+            joint_velocities=joint_velocities.astype(float),
+            tangential_deformation=(
+                soft_contacts_state.tangential_deformation
+                if soft_contacts_state is not None
+                else None
+            ),
+        )
+
+        if not ode_state.valid(model=model):
+            raise ValueError(ode_state)
+
+        return JaxSimModelData(
+            time_ns=time_ns,
+            state=ode_state,
+            gravity=gravity.astype(float),
+            soft_contacts_params=soft_contacts_params,
+            velocity_representation=velocity_representation,
+        )
+
+    # ==================
+    # Extract quantities
+    # ==================
+
+    def time(self) -> jtp.Float:
+        """
+        Get the simulated time.
+
+        Returns:
+            The simulated time in seconds.
+        """
+
+        return self.time_ns.astype(float) / 1e9
+
+    def standard_gravity(self) -> jtp.Float:
+        """
+        Get the standard gravity constant.
+
+        Returns:
+            The standard gravity constant.
+        """
+
+        return -self.gravity[2]
+
+    @functools.partial(jax.jit, static_argnames=["joint_names"])
+    def joint_positions(
+        self,
+        model: js.model.JaxSimModel | None = None,
+        joint_names: tuple[str, ...] | None = None,
+    ) -> jtp.Vector:
+        """
+        Get the joint positions.
+
+        Args:
+            model: The model to consider.
+            joint_names:
+                The names of the joints for which to get the positions. If `None`,
+                the positions of all joints are returned.
+
+        Returns:
+            If no model and no joint names are provided, the joint positions as a
+            `(DoFs,)` vector corresponding to the serialization of the original
+            model used to build the data object.
+            If a model is provided and no joint names are provided, the joint positions
+            as a `(DoFs,)` vector corresponding to the serialization of the
+            provided model.
+            If a model and joint names are provided, the joint positions as a
+            `(len(joint_names),)` vector corresponding to the serialization of
+            the passed joint names vector.
+        """
+
+        if model is None:
+            if joint_names is not None:
+                raise ValueError("Joint names cannot be provided without a model")
+
+            return self.state.physics_model.joint_positions
+
+        if not_tracing(self.state.physics_model.joint_positions) and not self.valid(
+            model=model
+        ):
+            msg = "The data object is not compatible with the provided model"
+            raise ValueError(msg)
+
+        joint_names = joint_names if joint_names is not None else model.joint_names()
+
+        return self.state.physics_model.joint_positions[
+            js.joint.names_to_idxs(joint_names=joint_names, model=model)
+        ]
+
+    @functools.partial(jax.jit, static_argnames=["joint_names"])
+    def joint_velocities(
+        self,
+        model: js.model.JaxSimModel | None = None,
+        joint_names: tuple[str, ...] | None = None,
+    ) -> jtp.Vector:
+        """
+        Get the joint velocities.
+
+        Args:
+            model: The model to consider.
+            joint_names:
+                The names of the joints for which to get the velocities. If `None`,
+                the velocities of all joints are returned.
+
+        Returns:
+            If no model and no joint names are provided, the joint velocities as a
+            `(DoFs,)` vector corresponding to the serialization of the original
+            model used to build the data object.
+            If a model is provided and no joint names are provided, the joint velocities
+            as a `(DoFs,)` vector corresponding to the serialization of the
+            provided model.
+            If a model and joint names are provided, the joint velocities as a
+            `(len(joint_names),)` vector corresponding to the serialization of
+            the passed joint names vector.
+        """
+
+        if model is None:
+            if joint_names is not None:
+                raise ValueError("Joint names cannot be provided without a model")
+
+            return self.state.physics_model.joint_velocities
+
+        if not_tracing(self.state.physics_model.joint_velocities) and not self.valid(
+            model=model
+        ):
+            msg = "The data object is not compatible with the provided model"
+            raise ValueError(msg)
+
+        joint_names = joint_names if joint_names is not None else model.joint_names()
+
+        return self.state.physics_model.joint_velocities[
+            js.joint.names_to_idxs(joint_names=joint_names, model=model)
+        ]
+
+    @jax.jit
+    def base_position(self) -> jtp.Vector:
+        """
+        Get the base position.
+
+        Returns:
+            The base position.
+        """
+
+        return self.state.physics_model.base_position.squeeze()
+
+    @functools.partial(jax.jit, static_argnames=["dcm"])
+    def base_orientation(self, dcm: jtp.BoolLike = False) -> jtp.Vector | jtp.Matrix:
+        """
+        Get the base orientation.
+
+        Args:
+            dcm: Whether to return the orientation as a SO(3) matrix or quaternion.
+
+        Returns:
+            The base orientation.
+        """
+
+        # Extract the base quaternion.
+        W_Q_B = self.state.physics_model.base_quaternion.squeeze()
+
+        # Always normalize the quaternion to avoid numerical issues.
+        # If the active scheme does not integrate the quaternion on its manifold,
+        # we introduce a Baumgarte stabilization to let the quaternion converge to
+        # a unit quaternion. In this case, it is not guaranteed that the quaternion
+        # stored in the state is a unit quaternion.
+        W_Q_B = jax.lax.select(
+            pred=jnp.allclose(jnp.linalg.norm(W_Q_B), 1.0, atol=1e-6, rtol=0.0),
+            on_true=W_Q_B,
+            on_false=W_Q_B / jnp.linalg.norm(W_Q_B),
+        )
+
+        return (
+            W_Q_B
+            if not dcm
+            else jaxlie.SO3.from_quaternion_xyzw(
+                Quaternion.to_xyzw(wxyz=W_Q_B)
+            ).as_matrix()
+        ).astype(float)
+
+    @jax.jit
+    def base_transform(self) -> jtp.MatrixJax:
+        """
+        Get the base transform.
+
+        Returns:
+            The base transform as an SE(3) matrix.
+        """
+
+        W_R_B = self.base_orientation(dcm=True)
+        W_p_B = jnp.vstack(self.base_position())
+
+        return jnp.vstack(
+            [
+                jnp.block([W_R_B, W_p_B]),
+                jnp.array([0, 0, 0, 1]),
+            ]
+        )
+
+    @jax.jit
+    def base_velocity(self) -> jtp.Vector:
+        """
+        Get the base 6D velocity.
+
+        Returns:
+            The base 6D velocity in the active representation.
+        """
+
+        W_v_WB = jnp.hstack(
+            [
+                self.state.physics_model.base_linear_velocity,
+                self.state.physics_model.base_angular_velocity,
+            ]
+        )
+
+        W_H_B = self.base_transform()
+
+        return (
+            JaxSimModelData.inertial_to_other_representation(
+                array=W_v_WB,
+                other_representation=self.velocity_representation,
+                transform=W_H_B,
+                is_force=False,
+            )
+            .squeeze()
+            .astype(float)
+        )
+
+    @jax.jit
+    def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
+        r"""
+        Get the generalized position
+        :math:`\\mathbf{q} = ({}^W \\mathbf{H}_B, \\mathbf{s}) \\in \text{SO}(3) \times \\mathbb{R}^n`.
+
+        Returns:
+            A tuple containing the base transform and the joint positions.
+        """
+
+        return self.base_transform(), self.joint_positions()
+
+    @jax.jit
+    def generalized_velocity(self) -> jtp.Vector:
+        r"""
+        Get the generalized velocity
+        :math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\\, \boldsymbol{\\omega}_{W,B};\\, \\mathbf{s}) \\in \\mathbb{R}^{6+n}`
+
+        Returns:
+            The generalized velocity in the active representation.
+        """
+
+        return (
+            jnp.hstack([self.base_velocity(), self.joint_velocities()])
+            .squeeze()
+            .astype(float)
+        )
+
+    # ================
+    # Store quantities
+    # ================
+
+    @functools.partial(jax.jit, static_argnames=["joint_names"])
+    def reset_joint_positions(
+        self,
+        positions: jtp.VectorLike,
+        model: js.model.JaxSimModel | None = None,
+        joint_names: tuple[str, ...] | None = None,
+    ) -> Self:
+        """
+        Reset the joint positions.
+
+        Args:
+            positions: The joint positions.
+            model: The model to consider.
+            joint_names: The names of the joints for which to set the positions.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        positions = jnp.array(positions)
+
+        def replace(s: jtp.VectorLike) -> JaxSimModelData:
+            return self.replace(
+                validate=True,
+                state=self.state.replace(
+                    physics_model=self.state.physics_model.replace(
+                        joint_positions=jnp.atleast_1d(s.squeeze()).astype(float)
+                    )
+                ),
+            )
+
+        if model is None:
+            return replace(s=positions)
+
+        if not_tracing(positions) and not self.valid(model=model):
+            msg = "The data object is not compatible with the provided model"
+            raise ValueError(msg)
+
+        joint_names = joint_names if joint_names is not None else model.joint_names()
+
+        return replace(
+            s=self.state.physics_model.joint_positions.at[
+                js.joint.names_to_idxs(joint_names=joint_names, model=model)
+            ].set(positions)
+        )
+
+    @functools.partial(jax.jit, static_argnames=["joint_names"])
+    def reset_joint_velocities(
+        self,
+        velocities: jtp.VectorLike,
+        model: js.model.JaxSimModel | None = None,
+        joint_names: tuple[str, ...] | None = None,
+    ) -> Self:
+        """
+        Reset the joint velocities.
+
+        Args:
+            velocities: The joint velocities.
+            model: The model to consider.
+            joint_names: The names of the joints for which to set the velocities.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        velocities = jnp.array(velocities)
+
+        def replace(ṡ: jtp.VectorLike) -> JaxSimModelData:
+            return self.replace(
+                validate=True,
+                state=self.state.replace(
+                    physics_model=self.state.physics_model.replace(
+                        joint_velocities=jnp.atleast_1d(ṡ.squeeze()).astype(float)
+                    )
+                ),
+            )
+
+        if model is None:
+            return replace(ṡ=velocities)
+
+        if not_tracing(velocities) and not self.valid(model=model):
+            msg = "The data object is not compatible with the provided model"
+            raise ValueError(msg)
+
+        joint_names = joint_names if joint_names is not None else model.joint_names()
+
+        return replace(
+            ṡ=self.state.physics_model.joint_velocities.at[
+                js.joint.names_to_idxs(joint_names=joint_names, model=model)
+            ].set(velocities)
+        )
+
+    @jax.jit
+    def reset_base_position(self, base_position: jtp.VectorLike) -> Self:
+        """
+        Reset the base position.
+
+        Args:
+            base_position: The base position.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        base_position = jnp.array(base_position)
+
+        return self.replace(
+            validate=True,
+            state=self.state.replace(
+                physics_model=self.state.physics_model.replace(
+                    base_position=jnp.atleast_1d(base_position.squeeze()).astype(float)
+                )
+            ),
+        )
+
+    @jax.jit
+    def reset_base_quaternion(self, base_quaternion: jtp.VectorLike) -> Self:
+        """
+        Reset the base quaternion.
+
+        Args:
+            base_quaternion: The base orientation as a quaternion.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        base_quaternion = jnp.array(base_quaternion)
+
+        return self.replace(
+            validate=True,
+            state=self.state.replace(
+                physics_model=self.state.physics_model.replace(
+                    base_quaternion=jnp.atleast_1d(base_quaternion.squeeze()).astype(
+                        float
+                    )
+                )
+            ),
+        )
+
+    @jax.jit
+    def reset_base_pose(self, base_pose: jtp.MatrixLike) -> Self:
+        """
+        Reset the base pose.
+
+        Args:
+            base_pose: The base pose as an SE(3) matrix.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        base_pose = jnp.array(base_pose)
+
+        W_p_B = base_pose[0:3, 3]
+
+        to_wxyz = np.array([3, 0, 1, 2])
+        W_R_B: jaxlie.SO3 = jaxlie.SO3.from_matrix(base_pose[0:3, 0:3])  # noqa
+        W_Q_B = W_R_B.as_quaternion_xyzw()[to_wxyz]
+
+        return self.reset_base_position(base_position=W_p_B).reset_base_quaternion(
+            base_quaternion=W_Q_B
+        )
+
+    @functools.partial(jax.jit, static_argnames=["velocity_representation"])
+    def reset_base_linear_velocity(
+        self,
+        linear_velocity: jtp.VectorLike,
+        velocity_representation: VelRepr | None = None,
+    ) -> Self:
+        """
+        Reset the base linear velocity.
+
+        Args:
+            linear_velocity: The base linear velocity as a 3D array.
+            velocity_representation:
+                The velocity representation in which the base velocity is expressed.
+                If `None`, the active representation is considered.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        linear_velocity = jnp.array(linear_velocity)
+
+        return self.reset_base_velocity(
+            base_velocity=jnp.hstack(
+                [linear_velocity.squeeze(), self.base_velocity()[3:6]]
+            ),
+            velocity_representation=velocity_representation,
+        )
+
+    @functools.partial(jax.jit, static_argnames=["velocity_representation"])
+    def reset_base_angular_velocity(
+        self,
+        angular_velocity: jtp.VectorLike,
+        velocity_representation: VelRepr | None = None,
+    ) -> Self:
+        """
+        Reset the base angular velocity.
+
+        Args:
+            angular_velocity: The base angular velocity as a 3D array.
+            velocity_representation:
+                The velocity representation in which the base velocity is expressed.
+                If `None`, the active representation is considered.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        angular_velocity = jnp.array(angular_velocity)
+
+        return self.reset_base_velocity(
+            base_velocity=jnp.hstack(
+                [self.base_velocity()[0:3], angular_velocity.squeeze()]
+            ),
+            velocity_representation=velocity_representation,
+        )
+
+    @functools.partial(jax.jit, static_argnames=["velocity_representation"])
+    def reset_base_velocity(
+        self,
+        base_velocity: jtp.VectorLike,
+        velocity_representation: VelRepr | None = None,
+    ) -> Self:
+        """
+        Reset the base 6D velocity.
+
+        Args:
+            base_velocity: The base 6D velocity in the active representation.
+            velocity_representation:
+                The velocity representation in which the base velocity is expressed.
+                If `None`, the active representation is considered.
+
+        Returns:
+            The updated `JaxSimModelData` object.
+        """
+
+        base_velocity = jnp.array(base_velocity)
+
+        velocity_representation = (
+            velocity_representation
+            if velocity_representation is not None
+            else self.velocity_representation
+        )
+
+        W_v_WB = self.other_representation_to_inertial(
+            array=jnp.atleast_1d(base_velocity.squeeze()).astype(float),
+            other_representation=velocity_representation,
+            transform=self.base_transform(),
+            is_force=False,
+        )
+
+        return self.replace(
+            validate=True,
+            state=self.state.replace(
+                physics_model=self.state.physics_model.replace(
+                    base_linear_velocity=W_v_WB[0:3].squeeze().astype(float),
+                    base_angular_velocity=W_v_WB[3:6].squeeze().astype(float),
+                )
+            ),
+        )
+
+
+def random_model_data(
+    model: js.model.JaxSimModel,
+    *,
+    key: jax.Array | None = None,
+    velocity_representation: VelRepr | None = None,
+    base_pos_bounds: tuple[
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+    ] = ((-1, -1, 0.5), 1.0),
+    base_vel_lin_bounds: tuple[
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+    ] = (-1.0, 1.0),
+    base_vel_ang_bounds: tuple[
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+    ] = (-1.0, 1.0),
+    joint_vel_bounds: tuple[
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+        jtp.FloatLike | Sequence[jtp.FloatLike],
+    ] = (-1.0, 1.0),
+    standard_gravity_bounds: tuple[jtp.FloatLike, jtp.FloatLike] = (
+        jaxsim.math.StandardGravity,
+        jaxsim.math.StandardGravity,
+    ),
+) -> JaxSimModelData:
+    """
+    Randomly generate a `JaxSimModelData` object.
+
+    Args:
+        model: The target model for the random data.
+        key: The random key.
+        velocity_representation: The velocity representation to use.
+        base_pos_bounds: The bounds for the base position.
+        base_vel_lin_bounds: The bounds for the base linear velocity.
+        base_vel_ang_bounds: The bounds for the base angular velocity.
+        joint_vel_bounds: The bounds for the joint velocities.
+        standard_gravity_bounds: The bounds for the standard gravity.
+
+    Returns:
+        A `JaxSimModelData` object with random data.
+    """
+
+    key = key if key is not None else jax.random.PRNGKey(seed=0)
+    k1, k2, k3, k4, k5, k6, k7 = jax.random.split(key, num=7)
+
+    p_min = jnp.array(base_pos_bounds[0], dtype=float)
+    p_max = jnp.array(base_pos_bounds[1], dtype=float)
+    v_min = jnp.array(base_vel_lin_bounds[0], dtype=float)
+    v_max = jnp.array(base_vel_lin_bounds[1], dtype=float)
+    ω_min = jnp.array(base_vel_ang_bounds[0], dtype=float)
+    ω_max = jnp.array(base_vel_ang_bounds[1], dtype=float)
+    ṡ_min, ṡ_max = joint_vel_bounds
+
+    random_data = JaxSimModelData.zero(
+        model=model,
+        **(
+            dict(velocity_representation=velocity_representation)
+            if velocity_representation is not None
+            else {}
+        ),
+    )
+
+    with random_data.mutable_context(
+        mutability=Mutability.MUTABLE, restore_after_exception=False
+    ):
+
+        physics_model_state = random_data.state.physics_model
+
+        physics_model_state.base_position = jax.random.uniform(
+            key=k1, shape=(3,), minval=p_min, maxval=p_max
+        )
+
+        physics_model_state.base_quaternion = jaxlie.SO3.from_rpy_radians(
+            *jax.random.uniform(key=k2, shape=(3,), minval=0, maxval=2 * jnp.pi)
+        ).as_quaternion_xyzw()[np.array([3, 0, 1, 2])]
+
+        if model.number_of_joints() > 0:
+            physics_model_state.joint_positions = js.joint.random_joint_positions(
+                model=model, key=k3
+            )
+
+            physics_model_state.joint_velocities = jax.random.uniform(
+                key=k4, shape=(model.dofs(),), minval=ṡ_min, maxval=ṡ_max
+            )
+
+        if model.floating_base():
+            physics_model_state.base_linear_velocity = jax.random.uniform(
+                key=k5, shape=(3,), minval=v_min, maxval=v_max
+            )
+
+            physics_model_state.base_angular_velocity = jax.random.uniform(
+                key=k6, shape=(3,), minval=ω_min, maxval=ω_max
+            )
+
+        random_data.gravity = (
+            jnp.zeros(3, dtype=random_data.gravity.dtype)
+            .at[2]
+            .set(
+                -jax.random.uniform(
+                    key=k7,
+                    shape=(),
+                    minval=standard_gravity_bounds[0],
+                    maxval=standard_gravity_bounds[1],
+                )
+            )
+        )
+
+    return random_data