jaxsim 0.2.1.dev62__tar.gz → 0.2.1.dev69__tar.gz

{jaxsim-0.2.1.dev62 → jaxsim-0.2.1.dev69}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.1.dev62
+Version: 0.2.1.dev69
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.2.1.dev62 → jaxsim-0.2.1.dev69}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.1.dev62'
-__version_tuple__ = version_tuple = (0, 2, 1, 'dev62')
+__version__ = version = '0.2.1.dev69'
+__version_tuple__ = version_tuple = (0, 2, 1, 'dev69')

{jaxsim-0.2.1.dev62 → jaxsim-0.2.1.dev69}/src/jaxsim/parsers/descriptions/model.py

@@ -1,6 +1,8 @@
+from __future__ import annotations
+
 import dataclasses
 import itertools
-from typing import List
+from typing import Sequence
 
 from jaxsim import logging
 
@@ -13,63 +15,62 @@ from .link import LinkDescription
 @dataclasses.dataclass(frozen=True)
 class ModelDescription(KinematicGraph):
     """
-    Description of a robotic model including links, joints, and collision shapes.
-
-    Args:
-        name (str): The name of the model.
-        fixed_base (bool): Indicates whether the model has a fixed base.
-        collision_shapes (List[CollisionShape]): List of collision shapes associated with the model.
+    Intermediate representation representing the kinematic graph of a robot model.
 
     Attributes:
-        name (str): The name of the model.
-        fixed_base (bool): Indicates whether the model has a fixed base.
-        collision_shapes (List[CollisionShape]): List of collision shapes associated with the model.
+        name: The name of the model.
+        fixed_base: Whether the model is either fixed-base or floating-base.
+        collision_shapes: List of collision shapes associated with the model.
     """
 
     name: str = None
+
     fixed_base: bool = True
-    collision_shapes: List[CollisionShape] = dataclasses.field(default_factory=list)
+
+    collision_shapes: list[CollisionShape] = dataclasses.field(
+        default_factory=list, repr=False, hash=False
+    )
 
     @staticmethod
     def build_model_from(
         name: str,
-        links: List[LinkDescription],
-        joints: List[JointDescription],
-        collisions: List[CollisionShape] = (),
+        links: list[LinkDescription],
+        joints: list[JointDescription],
+        frames: list[LinkDescription] | None = None,
+        collisions: list[CollisionShape] = (),
         fixed_base: bool = False,
         base_link_name: str | None = None,
-        considered_joints: List[str] | None = None,
+        considered_joints: Sequence[str] | None = None,
         model_pose: RootPose = RootPose(),
-    ) -> "ModelDescription":
+    ) -> ModelDescription:
         """
         Build a model description from provided components.
 
         Args:
-            name (str): The name of the model.
-            links (List[LinkDescription]): List of link descriptions.
-            joints (List[JointDescription]): List of joint descriptions.
-            collisions (List[CollisionShape]): List of collision shapes associated with the model.
-            fixed_base (bool): Indicates whether the model has a fixed base.
-            base_link_name (str): Name of the base link.
-            considered_joints (List[str]): List of joint names to consider.
-            model_pose (RootPose): Pose of the model's root.
+            name: The name of the model.
+            links: List of link descriptions.
+            joints: List of joint descriptions.
+            frames: List of frame descriptions.
+            collisions: List of collision shapes associated with the model.
+            fixed_base: Indicates whether the model has a fixed base.
+            base_link_name: Name of the base link (i.e. the root of the kinematic tree).
+            considered_joints: List of joint names to consider (by default all joints).
+            model_pose: Pose of the model's root (by default an identity transform).
 
         Returns:
-            ModelDescription: A ModelDescription instance representing the model.
-
-        Raises:
-            ValueError: If invalid or missing input data.
+            A ModelDescription instance representing the model.
         """
 
-        # Create the full kinematic graph
+        # Create the full kinematic graph.
         kinematic_graph = KinematicGraph.build_from(
             links=links,
             joints=joints,
+            frames=frames,
             root_link_name=base_link_name,
             root_pose=model_pose,
         )
 
-        # Reduce the graph if needed
+        # Reduce the graph if needed.
         if considered_joints is not None:
             kinematic_graph = kinematic_graph.reduce(
                 considered_joints=considered_joints
@@ -78,11 +79,13 @@ class ModelDescription(KinematicGraph):
         # Create the object to compute forward kinematics.
         fk = KinematicGraphTransforms(graph=kinematic_graph)
 
-        # Store here the final model collisions
-        final_collisions: List[CollisionShape] = []
+        # Container of the final model's collision shapes.
+        final_collisions: list[CollisionShape] = []
 
-        # Move and express the collision shapes of the removed link to the lumped link
+        # Move and express the collision shapes of removed links to the resulting
+        # lumped link that replace the combination of the removed link and its parent.
         for collision_shape in collisions:
+
             # Get all the collidable points of the shape
             coll_points = list(collision_shape.collidable_points)
 
@@ -112,7 +115,7 @@ class ModelDescription(KinematicGraph):
             final_collisions.append(new_collision_shape)
 
             # If the frame was found, update the collidable points' pose and add them
-            #  to the new collision shape
+            # to the new collision shape.
             for cp in collision_shape.collidable_points:
                 # Find the link that is part of the (reduced) model in which the
                 # collision shape's parent was lumped into
@@ -145,22 +148,20 @@ class ModelDescription(KinematicGraph):
             _joints_removed=kinematic_graph._joints_removed,
         )
 
+        # Check that the root link of kinematic graph is the desired base link.
         assert kinematic_graph.root.name == base_link_name, kinematic_graph.root.name
 
         return model
 
-    def reduce(self, considered_joints: List[str]) -> "ModelDescription":
+    def reduce(self, considered_joints: Sequence[str]) -> ModelDescription:
         """
         Reduce the model by removing specified joints.
 
         Args:
-            considered_joints (List[str]): List of joint names to consider.
+            The joint names to consider.
 
         Returns:
-            ModelDescription: A reduced ModelDescription instance.
-
-        Raises:
-            ValueError: If the specified joints are not part of the model.
+            A `ModelDescription` instance that only includes the considered joints.
         """
 
         if len(set(considered_joints) - set(self.joint_names())) != 0:
@@ -172,6 +173,7 @@ class ModelDescription(KinematicGraph):
             name=self.name,
             links=list(self.links_dict.values()),
             joints=self.joints,
+            frames=self.frames,
             collisions=self.collision_shapes,
             fixed_base=self.fixed_base,
             base_link_name=list(iter(self))[0].name,
@@ -190,12 +192,8 @@ class ModelDescription(KinematicGraph):
         Enable or disable collision shapes associated with a link.
 
         Args:
-            link_name (str): Name of the link.
-            enabled (bool): Enable or disable collision shapes associated with the link.
-
-        Raises:
-            ValueError: If the link name is not found in the model.
-
+            link_name: The name of the link.
+            enabled: Enable or disable collision shapes associated with the link.
         """
 
         if link_name not in self.link_names():
@@ -211,14 +209,10 @@ class ModelDescription(KinematicGraph):
         Get the collision shape associated with a specific link.
 
         Args:
-            link_name (str): Name of the link.
+            link_name: The name of the link.
 
         Returns:
-            CollisionShape: The collision shape associated with the link.
-
-        Raises:
-            ValueError: If the link name is not found in the model.
-
+            The collision shape associated with the link.
         """
 
         if link_name not in self.link_names():
@@ -233,14 +227,15 @@ class ModelDescription(KinematicGraph):
             ]
         )
 
-    def all_enabled_collidable_points(self) -> List[CollidablePoint]:
+    def all_enabled_collidable_points(self) -> list[CollidablePoint]:
         """
         Get all enabled collidable points in the model.
 
         Returns:
-            List[CollidablePoint]: A list of all enabled collidable points.
+            The list of all enabled collidable points.
 
         """
+
         # Get iterator of all collidable points
         all_collidable_points = itertools.chain.from_iterable(
             [shape.collidable_points for shape in self.collision_shapes]