jaxsim 0.2.dev108__py3-none-any.whl → 0.2.dev166__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.dev108'
-__version_tuple__ = version_tuple = (0, 2, 'dev108')
+__version__ = version = '0.2.dev166'
+__version_tuple__ = version_tuple = (0, 2, 'dev166')

jaxsim/api/__init__.py

@@ -0,0 +1 @@
+from . import contact, data, joint, link, model, ode

jaxsim/api/contact.py

@@ -0,0 +1,194 @@
+import functools
+
+import jax
+import jax.numpy as jnp
+
+import jaxsim.typing as jtp
+from jaxsim.physics.algos import soft_contacts
+
+from . import data as Data
+from . import model as Model
+
+
+@jax.jit
+def collidable_point_kinematics(
+    model: Model.JaxSimModel, data: Data.JaxSimModelData
+) -> tuple[jtp.Matrix, jtp.Matrix]:
+    """
+    Compute the position and 3D velocity of the collidable points in the world frame.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The position and velocity of the collidable points in the world frame.
+
+    Note:
+        The collidable point velocity is the plain coordinate derivative of the position.
+        If we attach a frame C = (p_C, [C]) to the collidable point, it corresponds to
+        the linear component of the mixed 6D frame velocity.
+    """
+
+    from jaxsim.physics.algos.soft_contacts import collidable_points_pos_vel
+
+    W_p_Ci, W_ṗ_Ci = collidable_points_pos_vel(
+        model=model.physics_model,
+        q=data.state.physics_model.joint_positions,
+        qd=data.state.physics_model.joint_velocities,
+        xfb=data.state.physics_model.xfb(),
+    )
+
+    return W_p_Ci.T, W_ṗ_Ci.T
+
+
+@jax.jit
+def collidable_point_positions(
+    model: Model.JaxSimModel, data: Data.JaxSimModelData
+) -> jtp.Matrix:
+    """
+    Compute the position of the collidable points in the world frame.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The position of the collidable points in the world frame.
+    """
+
+    return collidable_point_kinematics(model=model, data=data)[0]
+
+
+@jax.jit
+def collidable_point_velocities(
+    model: Model.JaxSimModel, data: Data.JaxSimModelData
+) -> jtp.Matrix:
+    """
+    Compute the 3D velocity of the collidable points in the world frame.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The 3D velocity of the collidable points.
+    """
+
+    return collidable_point_kinematics(model=model, data=data)[1]
+
+
+@functools.partial(jax.jit, static_argnames=["link_names"])
+def in_contact(
+    model: Model.JaxSimModel,
+    data: Data.JaxSimModelData,
+    *,
+    link_names: tuple[str, ...] | None = None,
+) -> jtp.Vector:
+    """
+    Return whether the links are in contact with the terrain.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+        link_names:
+            The names of the links to consider. If None, all links are considered.
+
+    Returns:
+        A boolean vector indicating whether the links are in contact with the terrain.
+    """
+
+    link_names = link_names if link_names is not None else model.link_names()
+
+    if set(link_names) - set(model.link_names()) != set():
+        raise ValueError("One or more link names are not part of the model")
+
+    from jaxsim.physics.algos.soft_contacts import collidable_points_pos_vel
+
+    W_p_Ci, _ = collidable_points_pos_vel(
+        model=model.physics_model,
+        q=data.state.physics_model.joint_positions,
+        qd=data.state.physics_model.joint_velocities,
+        xfb=data.state.physics_model.xfb(),
+    )
+
+    terrain_height = jax.vmap(lambda x, y: model.terrain.height(x=x, y=y))(
+        W_p_Ci[0, :], W_p_Ci[1, :]
+    )
+
+    below_terrain = W_p_Ci[2, :] <= terrain_height
+
+    links_in_contact = jax.vmap(
+        lambda link_index: jnp.where(
+            model.physics_model.gc.body == link_index,
+            below_terrain,
+            jnp.zeros_like(below_terrain, dtype=bool),
+        ).any()
+    )(jnp.arange(model.number_of_links()))
+
+    return links_in_contact
+
+
+@jax.jit
+def estimate_good_soft_contacts_parameters(
+    model: Model.JaxSimModel,
+    static_friction_coefficient: jtp.FloatLike = 0.5,
+    number_of_active_collidable_points_steady_state: jtp.IntLike = 1,
+    damping_ratio: jtp.FloatLike = 1.0,
+    max_penetration: jtp.FloatLike | None = None,
+) -> soft_contacts.SoftContactsParams:
+    """
+    Estimate good soft contacts parameters for the given model.
+
+    Args:
+        model: The model to consider.
+        static_friction_coefficient: The static friction coefficient.
+        number_of_active_collidable_points_steady_state:
+            The number of active collidable points in steady state supporting
+            the weight of the robot.
+        damping_ratio: The damping ratio.
+        max_penetration:
+            The maximum penetration allowed in steady state when the robot is
+            supported by the configured number of active collidable points.
+
+    Returns:
+        The estimated good soft contacts parameters.
+
+    Note:
+        This method provides a good starting point for the soft contacts parameters.
+        The user is encouraged to fine-tune the parameters based on the
+        specific application.
+    """
+
+    def estimate_model_height(model: Model.JaxSimModel) -> jtp.Float:
+        """"""
+
+        zero_data = Data.JaxSimModelData.build(
+            model=model, soft_contacts_params=soft_contacts.SoftContactsParams()
+        )
+
+        W_p_CoM = Model.com_position(model=model, data=zero_data)
+
+        if model.physics_model.is_floating_base:
+            W_pz_C = collidable_point_positions(model=model, data=zero_data)[:, -1]
+            return 2 * (W_p_CoM[2] - W_pz_C.min())
+
+        return 2 * W_p_CoM
+
+    max_δ = (
+        max_penetration
+        if max_penetration is not None
+        else 0.005 * estimate_model_height(model=model)
+    )
+
+    nc = number_of_active_collidable_points_steady_state
+
+    sc_parameters = soft_contacts.SoftContactsParams.build_default_from_physics_model(
+        physics_model=model.physics_model,
+        static_friction_coefficient=static_friction_coefficient,
+        max_penetration=max_δ,
+        number_of_active_collidable_points_steady_state=nc,
+        damping_ratio=damping_ratio,
+    )
+
+    return sc_parameters