jaxsim 0.2.dev188__py3-none-any.whl → 0.6.1.dev2__py3-none-any.whl

jaxsim/physics/algos/rnea.py

@@ -1,180 +0,0 @@
-from typing import Tuple
-
-import jax
-import jax.numpy as jnp
-import numpy as np
-
-import jaxsim.typing as jtp
-from jaxsim.math.adjoint import Adjoint
-from jaxsim.math.cross import Cross
-from jaxsim.physics.model.physics_model import PhysicsModel
-
-from . import utils
-
-
-def rnea(
-    model: PhysicsModel,
-    xfb: jtp.Vector,
-    q: jtp.Vector,
-    qd: jtp.Vector,
-    qdd: jtp.Vector,
-    a0fb: jtp.Vector = jnp.zeros(6),
-    f_ext: jtp.Matrix | None = None,
-) -> Tuple[jtp.Vector, jtp.Vector]:
-    """
-    Perform Inverse Dynamics Calculation using the Recursive Newton-Euler Algorithm (RNEA).
-
-    This function calculates the joint torques (forces) required to achieve a desired motion
-    given the robot's configuration, velocities, accelerations, and external forces.
-
-    Args:
-        model (PhysicsModel): The robot's physics model containing dynamic parameters.
-        xfb (jtp.Vector): The floating base state, including orientation and position.
-        q (jtp.Vector): Joint positions (angles).
-        qd (jtp.Vector): Joint velocities.
-        qdd (jtp.Vector): Joint accelerations.
-        a0fb (jtp.Vector, optional): Base acceleration. Defaults to zeros.
-        f_ext (jtp.Matrix, optional): External forces acting on the robot. Defaults to None.
-
-    Returns:
-        W_f0 (jtp.Vector): The base 6D force expressed in the world frame.
-        tau (jtp.Vector): Joint torques (forces) required for the desired motion.
-    """
-
-    xfb, q, qd, qdd, _, f_ext = utils.process_inputs(
-        physics_model=model, xfb=xfb, q=q, qd=qd, qdd=qdd, f_ext=f_ext
-    )
-
-    a0fb = a0fb.squeeze()
-    gravity = model.gravity.squeeze()
-
-    if a0fb.shape[0] != 6:
-        raise ValueError(a0fb.shape)
-
-    M = model.spatial_inertias
-    pre_X_λi = model.tree_transforms
-    i_X_pre = model.joint_transforms(q=q)
-    S = model.motion_subspaces(q=q)
-    i_X_λi = jnp.zeros_like(pre_X_λi)
-
-    i_X_0 = jnp.zeros_like(pre_X_λi)
-    i_X_0 = i_X_0.at[0].set(jnp.eye(6))
-
-    # Parent array mapping: i -> λ(i).
-    # Exception: λ(0) must not be used, it's initialized to -1.
-    λ = model.parent_array()
-
-    v = jnp.array([jnp.zeros([6, 1])] * model.NB)
-    a = jnp.array([jnp.zeros([6, 1])] * model.NB)
-    f = jnp.array([jnp.zeros([6, 1])] * model.NB)
-
-    # 6D transform of base velocity
-    B_X_W = Adjoint.from_quaternion_and_translation(
-        quaternion=xfb[0:4],
-        translation=xfb[4:7],
-        inverse=True,
-        normalize_quaternion=True,
-    )
-    i_X_λi = i_X_λi.at[0].set(B_X_W)
-
-    a_0 = -B_X_W @ jnp.vstack(gravity)
-    a = a.at[0].set(a_0)
-
-    if model.is_floating_base:
-        W_v_WB = jnp.vstack(jnp.hstack([xfb[10:13], xfb[7:10]]))
-
-        v_0 = B_X_W @ W_v_WB
-        v = v.at[0].set(v_0)
-
-        a_0 = B_X_W @ (jnp.vstack(a0fb) - jnp.vstack(gravity))
-        a = a.at[0].set(a_0)
-
-        f_0 = (
-            M[0] @ a[0]
-            + Cross.vx_star(v[0]) @ M[0] @ v[0]
-            - Adjoint.inverse(B_X_W).T @ jnp.vstack(f_ext[0])
-        )
-        f = f.at[0].set(f_0)
-
-    ForwardPassCarry = Tuple[
-        jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax
-    ]
-    forward_pass_carry = (i_X_λi, v, a, i_X_0, f)
-
-    def forward_pass(
-        carry: ForwardPassCarry, i: jtp.Int
-    ) -> Tuple[ForwardPassCarry, None]:
-        ii = i - 1
-        i_X_λi, v, a, i_X_0, f = carry
-
-        vJ = S[i] * qd[ii]
-        i_X_λi_i = i_X_pre[i] @ pre_X_λi[i]
-        i_X_λi = i_X_λi.at[i].set(i_X_λi_i)
-
-        v_i = i_X_λi[i] @ v[λ[i]] + vJ
-        v = v.at[i].set(v_i)
-
-        a_i = i_X_λi[i] @ a[λ[i]] + S[i] * qdd[ii] + Cross.vx(v[i]) @ vJ
-        a = a.at[i].set(a_i)
-
-        i_X_0_i = i_X_λi[i] @ i_X_0[λ[i]]
-        i_X_0 = i_X_0.at[i].set(i_X_0_i)
-        i_Xf_W = Adjoint.inverse(i_X_0[i] @ B_X_W).T
-
-        f_i = (
-            M[i] @ a[i]
-            + Cross.vx_star(v[i]) @ M[i] @ v[i]
-            - i_Xf_W @ jnp.vstack(f_ext[i])
-        )
-        f = f.at[i].set(f_i)
-
-        return (i_X_λi, v, a, i_X_0, f), None
-
-    (i_X_λi, v, a, i_X_0, f), _ = jax.lax.scan(
-        f=forward_pass,
-        init=forward_pass_carry,
-        xs=np.arange(start=1, stop=model.NB),
-    )
-
-    tau = jnp.zeros_like(q)
-
-    BackwardPassCarry = Tuple[jtp.MatrixJax, jtp.MatrixJax]
-    backward_pass_carry = (tau, f)
-
-    def backward_pass(
-        carry: BackwardPassCarry, i: jtp.Int
-    ) -> Tuple[BackwardPassCarry, None]:
-        ii = i - 1
-        tau, f = carry
-
-        value = S[i].T @ f[i]
-        tau = tau.at[ii].set(value.squeeze())
-
-        def update_f(f: jtp.MatrixJax) -> jtp.MatrixJax:
-            f_λi = f[λ[i]] + i_X_λi[i].T @ f[i]
-            f = f.at[λ[i]].set(f_λi)
-            return f
-
-        f = jax.lax.cond(
-            pred=jnp.array([λ[i] != 0, model.is_floating_base]).any(),
-            true_fun=update_f,
-            false_fun=lambda f: f,
-            operand=f,
-        )
-
-        return (tau, f), None
-
-    (tau, f), _ = jax.lax.scan(
-        f=backward_pass,
-        init=backward_pass_carry,
-        xs=np.flip(np.arange(start=1, stop=model.NB)),
-    )
-
-    # Handle 1 DoF models
-    tau = jnp.atleast_1d(tau.squeeze())
-    tau = jnp.vstack(tau) if tau.size > 0 else jnp.empty(shape=(0, 1))
-
-    # Express the base 6D force in the world frame
-    W_f0 = B_X_W.T @ jnp.vstack(f[0])
-
-    return W_f0, tau

jaxsim/physics/algos/rnea_motors.py

@@ -1,196 +0,0 @@
-from typing import Tuple
-
-import jax
-import jax.numpy as jnp
-import numpy as np
-
-import jaxsim.typing as jtp
-from jaxsim.math.adjoint import Adjoint
-from jaxsim.math.cross import Cross
-from jaxsim.physics.model.physics_model import PhysicsModel
-
-from . import utils
-
-
-def rnea(
-    model: PhysicsModel,
-    xfb: jtp.Vector,
-    q: jtp.Vector,
-    qd: jtp.Vector,
-    qdd: jtp.Vector,
-    a0fb: jtp.Vector = jnp.zeros(6),
-    f_ext: jtp.Matrix | None = None,
-) -> Tuple[jtp.Vector, jtp.Vector]:
-    """
-    Recursive Newton-Euler Algorithm (RNEA) algorithm for inverse dynamics.
-    """
-
-    xfb, q, qd, qdd, _, f_ext = utils.process_inputs(
-        physics_model=model, xfb=xfb, q=q, qd=qd, qdd=qdd, f_ext=f_ext
-    )
-
-    a0fb = a0fb.squeeze()
-    gravity = model.gravity.squeeze()
-
-    if a0fb.shape[0] != 6:
-        raise ValueError(a0fb.shape)
-
-    M = model.spatial_inertias
-    pre_X_λi = model.tree_transforms
-    i_X_pre = model.joint_transforms(q=q)
-    S = model.motion_subspaces(q=q)
-    i_X_λi = jnp.zeros_like(pre_X_λi)
-
-    Γ = jnp.array([*model._joint_motor_gear_ratio.values()])
-    IM = jnp.array([*model._joint_motor_inertia.values()])
-    K_v = jnp.array([*model._joint_motor_viscous_friction.values()])
-    K̅ᵥ = jnp.diag(Γ.T * jnp.diag(K_v) * Γ)
-    m_S = jnp.concatenate([S[:1], S[1:] * Γ[:, None, None]], axis=0)
-
-    i_X_0 = jnp.zeros_like(pre_X_λi)
-    i_X_0 = i_X_0.at[0].set(jnp.eye(6))
-
-    # Parent array mapping: i -> λ(i).
-    # Exception: λ(0) must not be used, it's initialized to -1.
-    λ = model.parent_array()
-
-    v = jnp.array([jnp.zeros([6, 1])] * model.NB)
-    a = jnp.array([jnp.zeros([6, 1])] * model.NB)
-    f = jnp.array([jnp.zeros([6, 1])] * model.NB)
-
-    v_m = jnp.array([jnp.zeros([6, 1])] * model.NB)
-    a_m = jnp.array([jnp.zeros([6, 1])] * model.NB)
-    f_m = jnp.array([jnp.zeros([6, 1])] * model.NB)
-
-    # 6D transform of base velocity
-    B_X_W = Adjoint.from_quaternion_and_translation(
-        quaternion=xfb[0:4],
-        translation=xfb[4:7],
-        inverse=True,
-        normalize_quaternion=True,
-    )
-    i_X_λi = i_X_λi.at[0].set(B_X_W)
-
-    a_0 = -B_X_W @ jnp.vstack(gravity)
-    a = a.at[0].set(a_0)
-
-    if model.is_floating_base:
-        W_v_WB = jnp.vstack(jnp.hstack([xfb[10:13], xfb[7:10]]))
-
-        v_0 = B_X_W @ W_v_WB
-        v = v.at[0].set(v_0)
-
-        a_0 = B_X_W @ (jnp.vstack(a0fb) - jnp.vstack(gravity))
-        a = a.at[0].set(a_0)
-
-        f_0 = (
-            M[0] @ a[0]
-            + Cross.vx_star(v[0]) @ M[0] @ v[0]
-            - Adjoint.inverse(B_X_W).T @ jnp.vstack(f_ext[0])
-        )
-        f = f.at[0].set(f_0)
-
-    ForwardPassCarry = Tuple[
-        jtp.MatrixJax,
-        jtp.MatrixJax,
-        jtp.MatrixJax,
-        jtp.MatrixJax,
-        jtp.MatrixJax,
-        jtp.MatrixJax,
-        jtp.MatrixJax,
-        jtp.MatrixJax,
-    ]
-    forward_pass_carry = (i_X_λi, v, v_m, a, a_m, i_X_0, f, f_m)
-
-    def forward_pass(
-        carry: ForwardPassCarry, i: jtp.Int
-    ) -> Tuple[ForwardPassCarry, None]:
-        ii = i - 1
-        i_X_λi, v, v_m, a, a_m, i_X_0, f, f_m = carry
-
-        vJ = S[i] * qd[ii]
-        vJ_m = m_S[i] * qd[ii]
-
-        i_X_λi_i = i_X_pre[i] @ pre_X_λi[i]
-        i_X_λi = i_X_λi.at[i].set(i_X_λi_i)
-
-        v_i = i_X_λi[i] @ v[λ[i]] + vJ
-        v = v.at[i].set(v_i)
-
-        v_i_m = i_X_λi[i] @ v_m[λ[i]] + vJ_m
-        v_m = v_m.at[i].set(v_i_m)
-
-        a_i = i_X_λi[i] @ a[λ[i]] + S[i] * qdd[ii] + Cross.vx(v[i]) @ vJ
-        a = a.at[i].set(a_i)
-
-        a_i_m = i_X_λi[i] @ a_m[λ[i]] + m_S[i] * qdd[ii] + Cross.vx(v_m[i]) @ vJ_m
-        a_m = a_m.at[i].set(a_i_m)
-
-        i_X_0_i = i_X_λi[i] @ i_X_0[λ[i]]
-        i_X_0 = i_X_0.at[i].set(i_X_0_i)
-        i_Xf_W = Adjoint.inverse(i_X_0[i] @ B_X_W).T
-
-        f_i = (
-            M[i] @ a[i]
-            + Cross.vx_star(v[i]) @ M[i] @ v[i]
-            - i_Xf_W @ jnp.vstack(f_ext[i])
-        )
-        f = f.at[i].set(f_i)
-
-        f_i_m = IM[i] * a_m[i] + Cross.vx_star(v_m[i]) * IM[i] @ v_m[i]
-        f_m = f_m.at[i].set(f_i_m)
-
-        return (i_X_λi, v, v_m, a, a_m, i_X_0, f, f_m), None
-
-    (i_X_λi, v, v_m, a, a_m, i_X_0, f, f_m), _ = jax.lax.scan(
-        f=forward_pass,
-        init=forward_pass_carry,
-        xs=np.arange(start=1, stop=model.NB),
-    )
-
-    tau = jnp.zeros_like(q)
-
-    BackwardPassCarry = Tuple[jtp.MatrixJax, jtp.MatrixJax, jtp.MatrixJax]
-    backward_pass_carry = (tau, f, f_m)
-
-    def backward_pass(
-        carry: BackwardPassCarry, i: jtp.Int
-    ) -> Tuple[BackwardPassCarry, None]:
-        ii = i - 1
-        tau, f, f_m = carry
-
-        value = S[i].T @ f[i] + m_S[i].T @ f_m[i]  # + K̅ᵥ[i] * qd[ii]
-        tau = tau.at[ii].set(value.squeeze())
-
-        def update_f(ffm: Tuple[jtp.MatrixJax, jtp.MatrixJax]) -> jtp.MatrixJax:
-            f, f_m = ffm
-            f_λi = f[λ[i]] + i_X_λi[i].T @ f[i]
-            f = f.at[λ[i]].set(f_λi)
-
-            f_m_λi = f_m[λ[i]] + i_X_λi[i].T @ f_m[i]
-            f_m = f_m.at[λ[i]].set(f_m_λi)
-            return f, f_m
-
-        f, f_m = jax.lax.cond(
-            pred=jnp.array([λ[i] != 0, model.is_floating_base]).any(),
-            true_fun=update_f,
-            false_fun=lambda f: f,
-            operand=(f, f_m),
-        )
-
-        return (tau, f, f_m), None
-
-    (tau, f, f_m), _ = jax.lax.scan(
-        f=backward_pass,
-        init=backward_pass_carry,
-        xs=np.flip(np.arange(start=1, stop=model.NB)),
-    )
-
-    # Handle 1 DoF models
-    tau = jnp.atleast_1d(tau.squeeze())
-    tau = jnp.vstack(tau) if tau.size > 0 else jnp.empty(shape=(0, 1))
-
-    # Express the base 6D force in the world frame
-    W_f0 = B_X_W.T @ jnp.vstack(f[0])
-
-    return W_f0, tau