jaxsim 0.2.dev191__py3-none-any.whl → 0.6.1.dev2__py3-none-any.whl

jaxsim-0.6.1.dev2.dist-info/METADATA

@@ -0,0 +1,465 @@
+Metadata-Version: 2.2
+Name: jaxsim
+Version: 0.6.1.dev2
+Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
+Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
+Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
+License: BSD 3-Clause License
+        
+        Copyright (c) 2022, Artificial and Mechanical Intelligence
+        All rights reserved.
+        
+        Redistribution and use in source and binary forms, with or without
+        modification, are permitted provided that the following conditions are met:
+        
+        1. Redistributions of source code must retain the above copyright notice, this
+           list of conditions and the following disclaimer.
+        
+        2. Redistributions in binary form must reproduce the above copyright notice,
+           this list of conditions and the following disclaimer in the documentation
+           and/or other materials provided with the distribution.
+        
+        3. Neither the name of the copyright holder nor the names of its
+           contributors may be used to endorse or promote products derived from
+           this software without specific prior written permission.
+        
+        THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+        AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+        IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+        DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+        FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+        DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+        SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+        CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+        OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+        OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+        
+Project-URL: Changelog, https://github.com/ami-iit/jaxsim/releases
+Project-URL: Documentation, https://jaxsim.readthedocs.io
+Project-URL: Source, https://github.com/ami-iit/jaxsim
+Project-URL: Tracker, https://github.com/ami-iit/jaxsim/issues
+Keywords: physics,physics engine,jax,rigid body dynamics,featherstone,reinforcement learning,robot,robotics,sdf,urdf
+Classifier: Development Status :: 4 - Beta
+Classifier: Framework :: Robot Framework
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: MacOS
+Classifier: Operating System :: Microsoft
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Topic :: Games/Entertainment :: Simulation
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Scientific/Engineering :: Physics
+Classifier: Topic :: Software Development
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: coloredlogs
+Requires-Dist: jax>=0.4.26
+Requires-Dist: jaxlib>=0.4.26
+Requires-Dist: jaxlie>=1.3.0
+Requires-Dist: jax_dataclasses>=1.4.0
+Requires-Dist: pptree
+Requires-Dist: optax>=0.2.3
+Requires-Dist: qpax
+Requires-Dist: rod>=0.3.3
+Requires-Dist: typing_extensions; python_version < "3.12"
+Requires-Dist: trimesh
+Provides-Extra: style
+Requires-Dist: black[jupyter]~=24.0; extra == "style"
+Requires-Dist: isort; extra == "style"
+Requires-Dist: pre-commit; extra == "style"
+Provides-Extra: testing
+Requires-Dist: idyntree>=12.2.1; extra == "testing"
+Requires-Dist: pytest>=6.0; extra == "testing"
+Requires-Dist: pytest-benchmark; extra == "testing"
+Requires-Dist: pytest-icdiff; extra == "testing"
+Requires-Dist: robot-descriptions; extra == "testing"
+Requires-Dist: icub-models; extra == "testing"
+Provides-Extra: viz
+Requires-Dist: lxml; extra == "viz"
+Requires-Dist: mediapy; extra == "viz"
+Requires-Dist: mujoco>=3.0.0; extra == "viz"
+Requires-Dist: scipy>=1.14.0; extra == "viz"
+Provides-Extra: all
+Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
+
+# JaxSim
+
+**JaxSim** is a **differentiable physics engine** and **multibody dynamics library** built with JAX, tailored for control and robotic learning applications.
+
+<div align="center">
+<br/>
+<table>
+  <tr>
+    <th><img src="https://github.com/user-attachments/assets/115b1c1c-6ae5-4c59-92e0-1be13ba954db" width="250"></th>
+    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="250"></th>
+    <th><img src="https://github.com/user-attachments/assets/ae8adadf-3bca-47b8-97ca-3a9273633d60" width="250"></th>
+  </tr>
+</table>
+<br/>
+</div>
+
+## Features
+- Reduced-coordinate physics engine for **fixed-base** and **floating-base** robots.
+- Multibody dynamics library for model-based control algorithms.
+- Fully Python-based, leveraging [jax][jax] following a functional programming paradigm.
+- Seamless execution on CPUs, GPUs, and TPUs.
+- Supports JIT compilation and automatic vectorization for high performance.
+- Compatible with SDF models and URDF (via [sdformat][sdformat] conversion).
+
+## Usage
+
+### Using JaxSim as simulator
+
+
+```python
+import jax.numpy as jnp
+import jaxsim.api as js
+import icub_models
+import pathlib
+
+# Load the iCub model
+model_path = icub_models.get_model_file("iCubGazeboV2_5")
+joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
+          'l_shoulder_roll', 'l_shoulder_yaw', 'l_elbow', 'r_shoulder_pitch',
+          'r_shoulder_roll', 'r_shoulder_yaw', 'r_elbow', 'l_hip_pitch',
+          'l_hip_roll', 'l_hip_yaw', 'l_knee', 'l_ankle_pitch', 'l_ankle_roll',
+          'r_hip_pitch', 'r_hip_roll', 'r_hip_yaw', 'r_knee', 'r_ankle_pitch',
+          'r_ankle_roll')
+
+# Build and reduce the model
+model_description = pathlib.Path(model_path)
+full_model = js.model.JaxSimModel.build_from_model_description(
+    model_description=model_description, time_step=0.0001, is_urdf=True
+)
+model = js.model.reduce(model=full_model, considered_joints=joints)
+
+ndof = model.dofs()
+# Initialize data and simulation
+data = js.data.JaxSimModelData.zero(model=model).reset_base_position(
+    base_position=jnp.array([0.0, 0.0, 1.0])
+)
+T = jnp.arange(start=0, stop=1.0, step=model.time_step)
+tau = jnp.zeros(ndof)
+
+# Simulate
+for t in T:
+    data, _ = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
+
+```
+
+### Using JaxSim as a multibody dynamics library
+``` python
+import jax.numpy as jnp
+import jaxsim.api as js
+import icub_models
+import pathlib
+
+# Load the iCub model
+model_path = icub_models.get_model_file("iCubGazeboV2_5")
+joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
+          'l_shoulder_roll', 'l_shoulder_yaw', 'l_elbow', 'r_shoulder_pitch',
+          'r_shoulder_roll', 'r_shoulder_yaw', 'r_elbow', 'l_hip_pitch',
+          'l_hip_roll', 'l_hip_yaw', 'l_knee', 'l_ankle_pitch', 'l_ankle_roll',
+          'r_hip_pitch', 'r_hip_roll', 'r_hip_yaw', 'r_knee', 'r_ankle_pitch',
+          'r_ankle_roll')
+
+# Build and reduce the model
+model_description = pathlib.Path(model_path)
+full_model = js.model.JaxSimModel.build_from_model_description(
+    model_description=model_description, time_step=0.0001, is_urdf=True
+)
+model = js.model.reduce(model=full_model, considered_joints=joints)
+
+# Initialize model data
+data = js.data.JaxSimModelData.build(
+    model=model,
+    base_position=jnp.array([0.0, 0.0, 1.0],
+)
+
+# Frame and dynamics computations
+frame_index = js.frame.name_to_idx(model=model, frame_name="l_foot")
+W_H_F = js.frame.transform(model=model, data=data, frame_index=frame_index)  # Frame transformation
+W_J_F = js.frame.jacobian(model=model, data=data, frame_index=frame_index)  # Frame Jacobian
+
+# Dynamics properties
+M = js.model.free_floating_mass_matrix(model=model, data=data)  # Mass matrix
+h = js.model.free_floating_bias_forces(model=model, data=data)  # Bias forces
+g = js.model.free_floating_gravity_forces(model=model, data=data)  # Gravity forces
+C = js.model.free_floating_coriolis_matrix(model=model, data=data)  # Coriolis matrix
+
+# Print dynamics results
+print(f"M: shape={M.shape}, h: shape={h.shape}, g: shape={g.shape}, C: shape={C.shape}")
+
+```
+### Additional features
+
+- Full support for automatic differentiation of RBDAs (forward and reverse modes) with JAX.
+- Support for automatically differentiating against kinematics and dynamics parameters.
+- All fixed-step integrators are forward and reverse differentiable.
+- All variable-step integrators are forward differentiable.
+- Check the example folder for additional usecase !
+
+[jax]: https://github.com/google/jax/
+[sdformat]: https://github.com/gazebosim/sdformat
+[notation]: https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2
+[passive_viewer_mujoco]: https://mujoco.readthedocs.io/en/stable/python.html#passive-viewer
+
+> [!WARNING]
+> This project is still experimental, APIs could change between releases without notice.
+
+> [!NOTE]
+> JaxSim currently focuses on locomotion applications.
+> Only contacts between bodies and smooth ground surfaces are supported.
+
+## Installation
+
+<details>
+<summary>With <code>conda</code></summary>
+
+You can install the project using [`conda`][conda] as follows:
+
+```bash
+conda install jaxsim -c conda-forge
+```
+
+You can enforce GPU support, if needed, by also specifying `"jaxlib = * = *cuda*"`.
+
+</details>
+
+<details>
+<summary>With <code>pixi</code></summary>
+
+> ### Note
+> The minimum version of `pixi` required is `0.39.0`.
+
+You can add the jaxsim dependency in [`pixi`][pixi] project as follows:
+
+```bash
+pixi add jaxsim
+```
+
+If you are on Linux and you want to use a `cuda`-powered version of `jax`, remember to add the appropriate line in the [`system-requirements`](https://pixi.sh/latest/reference/pixi_manifest/#the-system-requirements-table) table, i.e. adding
+
+~~~toml
+[system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pixi.toml` file or
+
+~~~toml
+[tool.pixi.system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pyproject.toml` file.
+
+</details>
+
+<details>
+<summary>With <code>pip</code></summary>
+
+You can install the project using [`pypa/pip`][pip], preferably in a [virtual environment][venv], as follows:
+
+```bash
+pip install jaxsim
+```
+
+Check [`pyproject.toml`](pyproject.toml) for the complete list of optional dependencies.
+You can obtain a full installation using `jaxsim[all]`.
+
+If you need GPU support, follow the official [installation instructions][jax_gpu] of JAX.
+
+</details>
+
+<details>
+<summary>Contributors installation (with <code>conda</code>)</summary>
+
+If you want to contribute to the project, we recommend creating the following `jaxsim` conda environment first:
+
+```bash
+conda env create -f environment.yml
+```
+
+Then, activate the environment and install the project in editable mode:
+
+```bash
+conda activate jaxsim
+pip install --no-deps -e .
+```
+
+</details>
+
+<details>
+<summary>Contributors installation (with <code>pixi</code>)</summary>
+
+> ### Note
+> The minimum version of `pixi` required is `0.39.0`.
+
+You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+
+```bash
+pixi install
+```
+
+See `pixi task list` for a list of available tasks.
+
+</details>
+
+[conda]: https://anaconda.org/
+[pip]: https://github.com/pypa/pip/
+[pixi]: https://pixi.sh/
+[venv]: https://docs.python.org/3/tutorial/venv.html
+[jax_gpu]: https://github.com/google/jax/#installation
+
+## Documentation
+
+The JaxSim API documentation is available at [jaxsim.readthedocs.io][readthedocs].
+
+[readthedocs]: https://jaxsim.readthedocs.io/
+
+
+## Overview
+
+<details>
+<summary>Structure of the Python package</summary>
+
+```
+# tree -L 2 -I "__pycache__" -I "__init__*" -I "__main__*" src/jaxsim
+
+src/jaxsim
+|-- api..........................# Package containing the main functional APIs.
+|   |-- com.py...................# |-- APIs for computing quantities related to the center of mass.
+|   |-- common.py................# |-- Common utilities used in the current package.
+|   |-- contact.py...............# |-- APIs for computing quantities related to the collidable points.
+|   |-- data.py..................# |-- Class storing the data of a simulated model.
+|   |-- frame.py.................# |-- APIs for computing quantities related to additional frames.
+|   |-- joint.py.................# |-- APIs for computing quantities related to the joints.
+|   |-- kin_dyn_parameters.py....# |-- Class storing kinematic and dynamic parameters of a model.
+|   |-- link.py..................# |-- APIs for computing quantities related to the links.
+|   |-- model.py.................# |-- Class defining a simulated model and APIs for computing related quantities.
+|   |-- ode.py...................# |-- APIs for computing quantities related to the system dynamics.
+|   |-- ode_data.py..............# |-- Set of classes to store the data of the system dynamics.
+|   `-- references.py............# `-- Helper class to create references (link forces and joint torques).
+|-- exceptions.py................# Module containing functions to raise exceptions from JIT-compiled functions.
+|-- integrators..................# Package containing the integrators used to simulate the system dynamics.
+|   |-- common.py................# |-- Common utilities used in the current package.
+|   |-- fixed_step.py............# |-- Fixed-step integrators (explicit Runge-Kutta schemes).
+|   `-- variable_step.py.........# `-- Variable-step integrators (embedded Runge-Kutta schemes).
+|-- logging.py...................# Module containing logging utilities.
+|-- math.........................# Package containing mathematical utilities.
+|   |-- adjoint.py...............# |-- APIs for creating and manipulating 6D transformations.
+|   |-- cross.py.................# |-- APIs for computing cross products of 6D quantities.
+|   |-- inertia.py...............# |-- APIs for creating and manipulating 6D inertia matrices.
+|   |-- joint_model.py...........# |-- APIs defining the supported joint model and the corresponding transformations.
+|   |-- quaternion.py............# |-- APIs for creating and manipulating quaternions.
+|   |-- rotation.py..............# |-- APIs for creating and manipulating rotation matrices.
+|   |-- skew.py..................# |-- APIs for creating and manipulating skew-symmetric matrices.
+|   `-- transform.py.............# `-- APIs for creating and manipulating homogeneous transformations.
+|-- mujoco.......................# Package containing utilities to interact with the Mujoco passive viewer.
+|   |-- loaders.py...............# |-- Utilities for converting JaxSim models to Mujoco models.
+|   |-- model.py.................# |-- Class providing high-level methods to compute quantities using Mujoco.
+|   `-- visualizer.py............# `-- Class that simplifies opening the passive viewer and recording videos.
+|-- parsers......................# Package containing utilities to parse model descriptions (SDF and URDF models).
+|   |-- descriptions/............# |-- Package containing the intermediate representation of a model description.
+|   |-- kinematic_graph.py.......# |-- Definition of the kinematic graph associated with a parsed model description.
+|   `-- rod/.....................# `-- Package to create the intermediate representation from model descriptions using ROD.
+|-- rbda.........................# Package containing the low-level rigid body dynamics algorithms.
+|   |-- aba.py...................# |-- The Articulated Body Algorithm.
+|   |-- collidable_points.py.....# |-- Kinematics of collidable points.
+|   |-- contacts/................# |-- Package containing the supported contact models.
+|   |-- crba.py..................# |-- The Composite Rigid Body Algorithm.
+|   |-- forward_kinematics.py....# |-- Forward kinematics of the model.
+|   |-- jacobian.py..............# |-- Full Jacobian and full Jacobian derivative.
+|   |-- rnea.py..................# |-- The Recursive Newton-Euler Algorithm.
+|   `-- utils.py.................# `-- Common utilities used in the current package.
+|-- terrain......................# Package containing resources to specify the terrain.
+|   `-- terrain.py...............# `-- Classes defining the supported terrains.
+|-- typing.py....................# Module containing type hints.
+`-- utils........................# Package of common utilities.
+    |-- jaxsim_dataclass.py......# |-- Utilities to operate on pytree dataclasses.
+    |-- tracing.py...............# |-- Utilities to use when JAX is tracing functions.
+    `-- wrappers.py..............# `-- Utilities to wrap objects for specific use cases on pytree dataclass attributes.
+```
+
+</details>
+
+## Credits
+
+The RBDAs are based on the theory of the [Rigid Body Dynamics Algorithms][RBDA]
+book by Roy Featherstone.
+The algorithms and some simulation features were inspired by its accompanying [code][spatial_v2].
+
+[RBDA]: https://link.springer.com/book/10.1007/978-1-4899-7560-7
+[spatial_v2]: http://royfeatherstone.org/spatial/index.html#spatial-software
+
+The development of JaxSim started in late 2021, inspired by early versions of [`google/brax`][brax].
+At that time, Brax was implemented in maximal coordinates, and we wanted a physics engine in reduced coordinates.
+We are grateful to the Brax team for their work and showing the potential of [JAX][jax] in this field.
+
+Brax v2 was later implemented reduced coordinates, following an approach comparable to JaxSim.
+The development then shifted to [MJX][mjx], which today provides a JAX-based implementation of the Mujoco APIs.
+
+The main differences between MJX/Brax and JaxSim are as follows:
+
+- JaxSim supports out-of-the-box all SDF models with [Pose Frame Semantics][PFS].
+- JaxSim only supports collisions between points rigidly attached to bodies and a compliant ground surface.
+  Our contact model requires careful tuning of its spring-damper parameters, but being an instantaneous
+  function of the state $(\mathbf{q}, \boldsymbol{\nu})$, it doesn't require running any optimization algorithm
+  when stepping the simulation forward.
+- JaxSim mitigates the stiffness of the contact-aware system dynamics by providing variable-step integrators.
+
+[brax]: https://github.com/google/brax
+[mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html
+[PFS]: http://sdformat.org/tutorials?tut=pose_frame_semantics
+
+## Contributing
+
+We welcome contributions from the community.
+Please read the [contributing guide](./CONTRIBUTING.md) to get started.
+
+## Citing
+
+```bibtex
+@software{ferigo_jaxsim_2022,
+  author = {Diego Ferigo and Filippo Luca Ferretti and Silvio Traversaro and Daniele Pucci},
+  title = {{JaxSim}: A Differentiable Physics Engine and Multibody Dynamics Library for Control and Robot Learning},
+  url = {http://github.com/ami-iit/jaxsim},
+  year = {2022},
+}
+```
+
+Theoretical aspects of JaxSim are based on Chapters 7 and 8 of the following Ph.D. thesis:
+
+```bibtex
+@phdthesis{ferigo_phd_thesis_2022,
+  title = {Simulation Architectures for Reinforcement Learning applied to Robotics},
+  author = {Diego Ferigo},
+  school = {University of Manchester},
+  type = {PhD Thesis},
+  month = {July},
+  year = {2022},
+}
+```
+
+## People
+
+| Authors | Maintainers |
+|:------:|:-----------:|
+| [<img src="https://avatars.githubusercontent.com/u/469199?v=4" width="40">][df] [<img src="https://avatars.githubusercontent.com/u/102977828?v=4" width="40">][ff] | [<img src="https://avatars.githubusercontent.com/u/102977828?v=4" width="40">][ff] [<img src="https://avatars.githubusercontent.com/u/57228872?v=4" width="40">][ac] |
+
+[df]: https://github.com/diegoferigo
+[ff]: https://github.com/flferretti
+[ac]: https://github.com/xela-95
+
+## License
+
+[BSD3](https://choosealicense.com/licenses/bsd-3-clause/)

jaxsim-0.6.1.dev2.dist-info/RECORD

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+jaxsim-0.6.1.dev2.dist-info/RECORD,,

{jaxsim-0.2.dev191.dist-info → jaxsim-0.6.1.dev2.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.42.0)
+Generator: setuptools (75.8.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

jaxsim/high_level/__init__.py

@@ -1,2 +0,0 @@
-from . import common, joint, link, model
-from .common import VelRepr

jaxsim/high_level/common.py

@@ -1,11 +0,0 @@
-import enum
-
-
-class VelRepr(enum.IntEnum):
-    """
-    Enumeration of all supported 6D velocity representations.
-    """
-
-    Body = enum.auto()
-    Mixed = enum.auto()
-    Inertial = enum.auto()