jaxsim 0.2.dev101__py3-none-any.whl → 0.2.dev166__py3-none-any.whl

jaxsim/integrators/common.py

@@ -0,0 +1,508 @@
+import abc
+import dataclasses
+from typing import Any, ClassVar, Generic, Protocol, Type, TypeVar
+
+import jax
+import jax.numpy as jnp
+import jax_dataclasses
+from jax_dataclasses import Static
+
+import jaxsim.typing as jtp
+from jaxsim.utils.jaxsim_dataclass import JaxsimDataclass, Mutability
+
+try:
+    from typing import override
+except ImportError:
+    from typing_extensions import override
+
+try:
+    from typing import Self
+except ImportError:
+    from typing_extensions import Self
+
+
+# =============
+# Generic types
+# =============
+
+Time = jax.typing.ArrayLike
+TimeStep = jax.typing.ArrayLike
+State = NextState = TypeVar("State")
+StateDerivative = TypeVar("StateDerivative")
+PyTreeType = TypeVar("PyTreeType", bound=jtp.PyTree)
+
+
+class SystemDynamics(Protocol[State, StateDerivative]):
+    def __call__(
+        self, x: State, t: Time, **kwargs
+    ) -> tuple[StateDerivative, dict[str, Any]]: ...
+
+
+# =======================
+# Base integrator classes
+# =======================
+
+
+@jax_dataclasses.pytree_dataclass
+class Integrator(JaxsimDataclass, abc.ABC, Generic[State, StateDerivative]):
+
+    AuxDictDynamicsKey: ClassVar[str] = "aux_dict_dynamics"
+
+    dynamics: Static[SystemDynamics[State, StateDerivative]] = dataclasses.field(
+        repr=False, hash=False, compare=False, kw_only=True
+    )
+
+    params: dict[str, Any] = dataclasses.field(
+        default_factory=dict, repr=False, hash=False, compare=False, kw_only=True
+    )
+
+    @classmethod
+    def build(
+        cls: Type[Self], *, dynamics: SystemDynamics[State, StateDerivative], **kwargs
+    ) -> Self:
+        """
+        Build the integrator object.
+
+        Args:
+            dynamics: The system dynamics.
+            **kwargs: Additional keyword arguments to build the integrator.
+
+        Returns:
+            The integrator object.
+        """
+
+        return cls(dynamics=dynamics, **kwargs)  # noqa
+
+    def step(
+        self,
+        x0: State,
+        t0: Time,
+        dt: TimeStep,
+        *,
+        params: dict[str, Any],
+        **kwargs,
+    ) -> tuple[State, dict[str, Any]]:
+        """
+        Perform a single integration step.
+
+        Args:
+            x0: The initial state of the system.
+            t0: The initial time of the system.
+            dt: The time step of the integration.
+            params: The auxiliary dictionary of the integrator.
+            **kwargs: Additional keyword arguments.
+
+        Returns:
+            The final state of the system and the updated auxiliary dictionary.
+        """
+
+        with self.editable(validate=False) as integrator:
+            integrator.params = params
+
+        with integrator.mutable_context(mutability=Mutability.MUTABLE):
+            xf = integrator(x0, t0, dt, **kwargs)
+
+        assert Integrator.AuxDictDynamicsKey in integrator.params
+
+        return xf, integrator.params
+
+    @abc.abstractmethod
+    def __call__(self, x0: State, t0: Time, dt: TimeStep, **kwargs) -> NextState:
+        pass
+
+    def init(
+        self,
+        x0: State,
+        t0: Time,
+        dt: TimeStep,
+        *,
+        key: jax.Array | None = None,
+        **kwargs,
+    ) -> dict[str, Any]:
+        """
+        Initialize the integrator.
+
+        Args:
+            x0: The initial state of the system.
+            t0: The initial time of the system.
+            dt: The time step of the integration.
+            key: An optional random key to initialize the integrator.
+
+        Returns:
+            The auxiliary dictionary of the integrator.
+
+        Note:
+            This method should have the same signature as the inherited `__call__`
+            method, including additional kwargs.
+
+        Note:
+            If the integrator supports FSAL, the pair `(x0, t0)` must match the real
+            initial state and time of the system, otherwise the initial derivative of
+            the first step will be wrong.
+        """
+
+        _, aux_dict_dynamics = self.dynamics(x0, t0)
+
+        with self.editable(validate=False) as integrator:
+            _ = integrator(x0, t0, dt, **kwargs)
+            aux_dict_step = integrator.params
+
+        if Integrator.AuxDictDynamicsKey in aux_dict_dynamics:
+            msg = "You cannot create a key '{}' in the __call__ method."
+            raise KeyError(msg.format(Integrator.AuxDictDynamicsKey))
+
+        return {Integrator.AuxDictDynamicsKey: aux_dict_dynamics} | aux_dict_step
+
+
+@jax_dataclasses.pytree_dataclass
+class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]):
+
+    # The Runge-Kutta matrix.
+    A: ClassVar[jax.typing.ArrayLike]
+
+    # The weights coefficients.
+    # Note that in practice we typically use its transpose `b.transpose()`.
+    b: ClassVar[jax.typing.ArrayLike]
+
+    # The nodes coefficients.
+    c: ClassVar[jax.typing.ArrayLike]
+
+    # Define the order of the solution.
+    # It should have as many elements as the number of rows of `b.transpose()`.
+    order_of_bT_rows: ClassVar[tuple[int, ...]]
+
+    # Define the row of the integration output corresponding to the final solution.
+    # This is the row of b.T that produces the final state.
+    row_index_of_solution: ClassVar[int]
+
+    # Attributes of FSAL (first-same-as-last) property.
+    fsal_enabled_if_supported: Static[bool] = dataclasses.field(repr=False)
+    index_of_fsal: Static[jtp.IntLike | None] = dataclasses.field(repr=False)
+
+    @property
+    def has_fsal(self) -> bool:
+        return self.fsal_enabled_if_supported and self.index_of_fsal is not None
+
+    @property
+    def order(self) -> int:
+        return self.order_of_bT_rows[self.row_index_of_solution]
+
+    @override
+    @classmethod
+    def build(
+        cls: Type[Self],
+        *,
+        dynamics: SystemDynamics[State, StateDerivative],
+        fsal_enabled_if_supported: jtp.BoolLike = True,
+        **kwargs,
+    ) -> Self:
+        """
+        Build the integrator object.
+
+        Args:
+            dynamics: The system dynamics.
+            fsal_enabled_if_supported:
+                Whether to enable the FSAL property, if supported.
+            **kwargs: Additional keyword arguments to build the integrator.
+
+        Returns:
+            The integrator object.
+        """
+
+        # Adjust the shape of the tableau coefficients.
+        c = jnp.atleast_1d(cls.c.squeeze())
+        b = jnp.atleast_2d(jnp.vstack(cls.b.squeeze()))
+        A = jnp.atleast_2d(cls.A.squeeze())
+
+        # Check validity of the Butcher tableau.
+        if not ExplicitRungeKutta.butcher_tableau_is_valid(A=A, b=b, c=c):
+            raise ValueError("The Butcher tableau of this class is not valid.")
+
+        # Store the adjusted shapes of the tableau coefficients.
+        cls.c = c
+        cls.b = b
+        cls.A = A
+
+        # Check that b.T has enough rows based on the configured index of the solution.
+        if cls.row_index_of_solution >= cls.b.T.shape[0]:
+            msg = "The index of the solution ({}-th row of `b.T`) is out of range ({})."
+            raise ValueError(msg.format(cls.row_index_of_solution, cls.b.T.shape[0]))
+
+        # Check that the tuple containing the order of the b.T rows matches the number
+        # of the b.T rows.
+        if len(cls.order_of_bT_rows) != cls.b.T.shape[0]:
+            msg = "Wrong size of 'order_of_bT_rows' ({}), should be {}."
+            raise ValueError(msg.format(len(cls.order_of_bT_rows), cls.b.T.shape[0]))
+
+        # Check if the Butcher tableau supports FSAL (first-same-as-last).
+        # If it does, store the index of the intermediate derivative to be used as the
+        # first derivative of the next iteration.
+        has_fsal, index_of_fsal = ExplicitRungeKutta.butcher_tableau_supports_fsal(
+            A=cls.A, b=cls.b, c=cls.c, index_of_solution=cls.row_index_of_solution
+        )
+
+        # Build the integrator object.
+        integrator = super().build(
+            dynamics=dynamics,
+            index_of_fsal=index_of_fsal,
+            fsal_enabled_if_supported=bool(fsal_enabled_if_supported),
+            **kwargs,
+        )
+
+        return integrator
+
+    def __call__(self, x0: State, t0: Time, dt: TimeStep, **kwargs) -> NextState:
+
+        # Here z is a batched state with as many batch elements as b.T rows.
+        # Note that z has multiple batches only if b.T has more than one row,
+        # e.g. in Butcher tableau of embedded schemes.
+        z = self._compute_next_state(x0=x0, t0=t0, dt=dt, **kwargs)
+
+        # The next state is the batch element located at the configured index of solution.
+        return jax.tree_util.tree_map(lambda l: l[self.row_index_of_solution], z)
+
+    @classmethod
+    def integrate_rk_stage(
+        cls, x0: State, t0: Time, dt: TimeStep, k: StateDerivative
+    ) -> NextState:
+        """
+        Integrate a single stage of the Runge-Kutta method.
+
+        Args:
+            x0: The initial state of the system.
+            t0: The initial time of the system.
+            dt:
+                The time step of the RK integration scheme. Note that this is
+                not the stage timestep, as it depends on the `A` matrix used
+                to compute the `k` argument.
+            k:
+                The RK state derivative of the current stage, weighted with
+                the `A` matrix.
+
+        Returns:
+            The state at the next stage of the integration.
+
+        Note:
+            In the most generic case, `k` could be an arbitrary composition
+            of the kᵢ derivatives, depending on the RK matrix A.
+
+        Note:
+            Overriding this method allows users to use different classes
+            defining `State` and `StateDerivative`. Be aware that the
+            timestep `dt` is not the stage timestep, therefore the map
+            used to convert the state derivative must be time-independent.
+        """
+
+        op = lambda x0_leaf, k_leaf: x0_leaf + dt * k_leaf
+        return jax.tree_util.tree_map(op, x0, k)
+
+    @classmethod
+    def post_process_state(
+        cls, x0: State, t0: Time, xf: NextState, dt: TimeStep
+    ) -> NextState:
+        """
+        Post-process the integrated state at :math:`t_f = t_0 + \Delta t`.
+
+        Args:
+            x0: The initial state of the system.
+            t0: The initial time of the system.
+            xf: The final state of the system obtain through the integration.
+            dt: The time step used for the integration.
+
+        Returns:
+            The post-processed integrated state.
+        """
+
+        return xf
+
+    def _compute_next_state(
+        self, x0: State, t0: Time, dt: TimeStep, **kwargs
+    ) -> NextState:
+        """
+        Compute the next state of the system, returning all the output states.
+
+        Args:
+            x0: The initial state of the system.
+            t0: The initial time of the system.
+            dt: The time step of the integration.
+            **kwargs: Additional keyword arguments.
+
+        Returns:
+            A batched state with as many batch elements as `b.T` rows.
+        """
+
+        # Call variables with better symbols.
+        Δt = dt
+        c = self.c
+        b = self.b
+        A = self.A
+
+        # Close f over optional kwargs.
+        f = lambda x, t: self.dynamics(x=x, t=t, **kwargs)
+
+        # Initialize the carry of the for loop with the stacked kᵢ vectors.
+        carry0 = jax.tree_util.tree_map(
+            lambda l: jnp.repeat(jnp.zeros_like(l)[jnp.newaxis, ...], c.size, axis=0),
+            x0,
+        )
+
+        # Apply FSAL property by passing ẋ0 = f(x0, t0) from the previous iteration.
+        get_ẋ0 = lambda: self.params.get("dxdt0", f(x0, t0)[0])
+
+        # We use a `jax.lax.scan` to compile the `f` function only once.
+        # Otherwise, if we compute e.g. for RK4 sequentially, the jit-compiled code
+        # would include 4 repetitions of the `f` logic, making everything extremely slow.
+        def scan_body(carry: jax.Array, i: int | jax.Array) -> tuple[jax.Array, None]:
+            """"""
+
+            # Unpack the carry, i.e. the stacked kᵢ vectors.
+            K = carry
+
+            # Define the computation of the Runge-Kutta stage.
+            def compute_ki() -> jax.Array:
+
+                # Compute ∑ⱼ aᵢⱼ kⱼ
+                op_sum_ak = lambda k: jnp.einsum("s,s...->...", A[i], k)
+                sum_ak = jax.tree_util.tree_map(op_sum_ak, K)
+
+                # Compute the next state for the kᵢ evaluation.
+                # Note that this is not a Δt integration since aᵢⱼ could be fractional.
+                xi = self.integrate_rk_stage(x0, t0, Δt, sum_ak)
+
+                # Compute the next time for the kᵢ evaluation.
+                ti = t0 + c[i] * Δt
+
+                # This is kᵢ = f(xᵢ, tᵢ).
+                return f(xi, ti)[0]
+
+            # This selector enables FSAL property in the first iteration (i=0).
+            ki = jax.lax.cond(
+                pred=jnp.logical_and(i == 0, self.has_fsal),
+                true_fun=get_ẋ0,
+                false_fun=compute_ki,
+            )
+
+            # Store the kᵢ derivative in K.
+            op = lambda l_k, l_ki: l_k.at[i].set(l_ki)
+            K = jax.tree_util.tree_map(op, K, ki)
+
+            carry = K
+            return carry, None
+
+        # Compute the state derivatives kᵢ.
+        K, _ = jax.lax.scan(
+            f=scan_body,
+            init=carry0,
+            xs=jnp.arange(c.size),
+        )
+
+        # Update the FSAL property for the next iteration.
+        if self.has_fsal:
+            self.params["dxdt0"] = jax.tree_map(lambda l: l[self.index_of_fsal], K)
+
+        # Compute the output state.
+        # Note that z contains as many new states as the rows of `b.T`.
+        op = lambda x0, k: x0 + Δt * jnp.einsum("zs,s...->z...", b.T, k)
+        z = jax.tree_util.tree_map(op, x0, K)
+
+        # Transform the final state of the integration.
+        # This allows to inject custom logic, if needed.
+        z_transformed = jax.vmap(
+            lambda xf: self.post_process_state(x0=x0, t0=t0, xf=xf, dt=dt)
+        )(z)
+
+        return z_transformed
+
+    @staticmethod
+    def butcher_tableau_is_valid(
+        A: jax.typing.ArrayLike, b: jax.typing.ArrayLike, c: jax.typing.ArrayLike
+    ) -> jtp.Bool:
+        """
+        Check if the Butcher tableau is valid.
+
+        Args:
+            A: The Runge-Kutta matrix.
+            b: The weights coefficients.
+            c: The nodes coefficients.
+
+        Returns:
+            `True` if the Butcher tableau is valid, `False` otherwise.
+        """
+
+        valid = True
+        valid = valid and A.ndim == 2
+        valid = valid and b.ndim == 2
+        valid = valid and c.ndim == 1
+        valid = valid and b.T.shape[0] <= 2
+        valid = valid and A.shape[0] == A.shape[1]
+        valid = valid and A.shape == (c.size, b.T.shape[1])
+        valid = valid and bool(jnp.all(b.T.sum(axis=1) == 1))
+
+        return valid
+
+    @staticmethod
+    def butcher_tableau_is_explicit(A: jax.typing.ArrayLike) -> jtp.Bool:
+        """
+        Check if the Butcher tableau corresponds to an explicit integration scheme.
+
+        Args:
+            A: The Runge-Kutta matrix.
+
+        Returns:
+            `True` if the Butcher tableau is explicit, `False` otherwise.
+        """
+
+        return jnp.allclose(A, jnp.tril(A, k=-1))
+
+    @staticmethod
+    def butcher_tableau_supports_fsal(
+        A: jax.typing.ArrayLike,
+        b: jax.typing.ArrayLike,
+        c: jax.typing.ArrayLike,
+        index_of_solution: jtp.IntLike = 0,
+    ) -> [bool, int | None]:
+        """
+        Check if the Butcher tableau supports the FSAL (first-same-as-last) property.
+
+        Args:
+            A: The Runge-Kutta matrix.
+            b: The weights coefficients.
+            c: The nodes coefficients.
+            index_of_solution:
+                The index of the row of `b.T` corresponding to the solution.
+
+        Returns:
+            A tuple containing a boolean indicating whether the Butcher tableau supports
+            FSAL, and the index i of the intermediate kᵢ derivative corresponding to the
+            initial derivative `f(x0, t0)` of the next step.
+        """
+
+        if not ExplicitRungeKutta.butcher_tableau_is_valid(A=A, b=b, c=c):
+            raise ValueError("The Butcher tableau is not valid.")
+
+        if not ExplicitRungeKutta.butcher_tableau_is_explicit(A=A):
+            return False
+
+        if index_of_solution >= b.T.shape[0]:
+            msg = "The index of the solution (i-th row of `b.T`) is out of range."
+            raise ValueError(msg)
+
+        if c[0] != 0:
+            return False, None
+
+        # Find all the rows of A where c = 1 (therefore at t=tf). The Butcher tableau
+        # supports FSAL if any of these rows (there might be more rows with c=1) matches
+        # the rows of b.T corresponding to the next state (marked by `index_of_solution`).
+        # This last condition means that the last kᵢ derivative is computed at (tf, xf),
+        # that corresponds to the (t0, x0) pair of the next integration call.
+        rows_of_A_with_fsal = (A == b.T[None, index_of_solution]).all(axis=1)
+        rows_of_A_with_fsal = jnp.logical_and(rows_of_A_with_fsal, (c == 1))
+
+        # If there is no match, it means that the Butcher tableau does not support FSAL.
+        if not rows_of_A_with_fsal.any():
+            return False, None
+
+        # Return the index of the row of A providing the fsal derivative (that is the
+        # possibly intermediate kᵢ derivative).
+        # Note that if multiple rows match (it should not), we return the first match.
+        return True, int(jnp.where(rows_of_A_with_fsal == True)[0].tolist()[0])

jaxsim/integrators/fixed_step.py

@@ -0,0 +1,158 @@
+from typing import ClassVar, Generic
+
+import jax
+import jax.numpy as jnp
+import jax_dataclasses
+import jaxlie
+
+from jaxsim.simulation.ode_data import ODEState
+
+from .common import ExplicitRungeKutta, PyTreeType, Time, TimeStep
+
+ODEStateDerivative = ODEState
+
+
+# =====================================================
+# Explicit Runge-Kutta integrators operating on PyTrees
+# =====================================================
+
+
+@jax_dataclasses.pytree_dataclass
+class ForwardEuler(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
+
+    A: ClassVar[jax.typing.ArrayLike] = jnp.array(
+        [
+            [0],
+        ]
+    ).astype(float)
+
+    b: ClassVar[jax.typing.ArrayLike] = (
+        jnp.array(
+            [
+                [1],
+            ]
+        )
+        .astype(float)
+        .transpose()
+    )
+
+    c: ClassVar[jax.typing.ArrayLike] = jnp.array(
+        [0],
+    ).astype(float)
+
+    row_index_of_solution: ClassVar[int] = 0
+    order_of_bT_rows: ClassVar[tuple[int, ...]] = (1,)
+
+
+@jax_dataclasses.pytree_dataclass
+class Heun(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
+
+    A: ClassVar[jax.typing.ArrayLike] = jnp.array(
+        [
+            [0, 0],
+            [1 / 2, 0],
+        ]
+    ).astype(float)
+
+    b: ClassVar[jax.typing.ArrayLike] = (
+        jnp.atleast_2d(
+            jnp.array([1 / 2, 1 / 2]),
+        )
+        .astype(float)
+        .transpose()
+    )
+
+    c: ClassVar[jax.typing.ArrayLike] = jnp.array(
+        [0, 1],
+    ).astype(float)
+
+    row_index_of_solution: ClassVar[int] = 0
+    order_of_bT_rows: ClassVar[tuple[int, ...]] = (2,)
+
+
+@jax_dataclasses.pytree_dataclass
+class RungeKutta4(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
+
+    A: ClassVar[jax.typing.ArrayLike] = jnp.array(
+        [
+            [0, 0, 0, 0],
+            [1 / 2, 0, 0, 0],
+            [0, 1 / 2, 0, 0],
+            [0, 0, 1, 0],
+        ]
+    ).astype(float)
+
+    b: ClassVar[jax.typing.ArrayLike] = (
+        jnp.atleast_2d(
+            jnp.array([1 / 6, 1 / 3, 1 / 3, 1 / 6]),
+        )
+        .astype(float)
+        .transpose()
+    )
+
+    c: ClassVar[jax.typing.ArrayLike] = jnp.array(
+        [0, 1 / 2, 1 / 2, 1],
+    ).astype(float)
+
+    row_index_of_solution: ClassVar[int] = 0
+    order_of_bT_rows: ClassVar[tuple[int, ...]] = (4,)
+
+
+# ===============================================================================
+# Explicit Runge-Kutta integrators operating on ODEState and integrating on SO(3)
+# ===============================================================================
+
+
+class ExplicitRungeKuttaSO3Mixin:
+    """
+    Mixin class to apply over explicit RK integrators defined on
+    `PyTreeType = ODEState` to integrate the quaternion on SO(3).
+    """
+
+    @classmethod
+    def post_process_state(
+        cls, x0: ODEState, t0: Time, xf: ODEState, dt: TimeStep
+    ) -> ODEState:
+
+        # Indices to convert quaternions between serializations.
+        to_xyzw = jnp.array([1, 2, 3, 0])
+        to_wxyz = jnp.array([3, 0, 1, 2])
+
+        # Get the initial quaternion.
+        W_Q_B_t0 = jaxlie.SO3.from_quaternion_xyzw(
+            xyzw=x0.physics_model.base_quaternion[to_xyzw]
+        )
+
+        # Get the final angular velocity.
+        # This is already computed by averaging the kᵢ in RK-based schemes.
+        # Therefore, by using the ω at tf, we obtain a RK scheme operating
+        # on the SO(3) manifold.
+        W_ω_WB_tf = xf.physics_model.base_angular_velocity
+
+        # Integrate the quaternion on SO(3).
+        # Note that we left-multiply with the exponential map since the angular
+        # velocity is expressed in the inertial frame.
+        W_Q_B_tf = jaxlie.SO3.exp(tangent=dt * W_ω_WB_tf) @ W_Q_B_t0
+
+        # Replace the quaternion in the final state.
+        return xf.replace(
+            physics_model=xf.physics_model.replace(
+                base_quaternion=W_Q_B_tf.as_quaternion_xyzw()[to_wxyz]
+            ),
+            validate=True,
+        )
+
+
+@jax_dataclasses.pytree_dataclass
+class ForwardEulerSO3(ExplicitRungeKuttaSO3Mixin, Heun[ODEState]):
+    pass
+
+
+@jax_dataclasses.pytree_dataclass
+class HeunSO3(ExplicitRungeKuttaSO3Mixin, Heun[ODEState]):
+    pass
+
+
+@jax_dataclasses.pytree_dataclass
+class RungeKutta4SO3(ExplicitRungeKuttaSO3Mixin, RungeKutta4[ODEState]):
+    pass

jaxsim/mujoco/__init__.py

@@ -1,3 +1,3 @@
 from .loaders import RodModelToMjcf, SdfToMjcf, UrdfToMjcf
 from .model import MujocoModelHelper
-from .visualizer import MujocoVisualizer
+from .visualizer import MujocoVideoRecorder, MujocoVisualizer