jaxsim 0.2.dev376__py3-none-any.whl → 0.2.dev394__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.dev376'
-__version_tuple__ = version_tuple = (0, 2, 'dev376')
+__version__ = version = '0.2.dev394'
+__version_tuple__ = version_tuple = (0, 2, 'dev394')

jaxsim/api/common.py

@@ -89,7 +89,7 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
         transform: jtp.Matrix,
         is_force: bool = False,
     ) -> jtp.Array:
-        """
+        r"""
         Convert a 6D quantity from inertial-fixed to another representation.
 
         Args:
@@ -155,7 +155,7 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
         transform: jtp.Matrix,
         is_force: bool = False,
     ) -> jtp.Array:
-        """
+        r"""
         Convert a 6D quantity from another representation to inertial-fixed.
 
         Args:

jaxsim/api/data.py

@@ -415,9 +415,9 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
 
     @jax.jit
     def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
-        """
+        r"""
         Get the generalized position
-        :math:`\mathbf{q} = ({}^W \mathbf{H}_B, \mathbf{s}) \in \text{SO}(3) \times \mathbb{R}^n`.
+        :math:`\\mathbf{q} = ({}^W \\mathbf{H}_B, \\mathbf{s}) \\in \text{SO}(3) \times \\mathbb{R}^n`.
 
         Returns:
             A tuple containing the base transform and the joint positions.
@@ -427,9 +427,9 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
 
     @jax.jit
     def generalized_velocity(self) -> jtp.Vector:
-        """
+        r"""
         Get the generalized velocity
-        :math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\, \boldsymbol{\omega}_{W,B};\, \mathbf{s}) \in \mathbb{R}^{6+n}`
+        :math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\\, \boldsymbol{\\omega}_{W,B};\\, \\mathbf{s}) \\in \\mathbb{R}^{6+n}`
 
         Returns:
             The generalized velocity in the active representation.

jaxsim/api/link.py

@@ -335,3 +335,27 @@ def velocity(
 
     # Compute the link velocity in the output velocity representation.
     return O_J_WL_I @ I_ν
+
+
+@jax.jit
+def bias_acceleration(
+    model: js.model.JaxSimModel,
+    data: js.data.JaxSimModelData,
+    *,
+    link_index: jtp.IntLike,
+) -> jtp.Vector:
+    """
+    Compute the bias acceleration of the link.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+        link_index: The index of the link.
+
+    Returns:
+        The 6D bias acceleration of the link.
+    """
+
+    # Compute the bias acceleration of all links in the active representation.
+    O_v̇_WL = js.model.link_bias_accelerations(model=model, data=data)[link_index]
+    return O_v̇_WL

jaxsim/api/model.py

@@ -937,7 +937,7 @@ def inverse_dynamics(
 def free_floating_gravity_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
-    """
+    r"""
     Compute the free-floating gravity forces :math:`g(\mathbf{q})` of the model.
 
     Args:
@@ -987,7 +987,7 @@ def free_floating_bias_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
     """
-    Compute the free-floating bias forces :math:`h(\mathbf{q}, \boldsymbol{\nu})`
+    Compute the free-floating bias forces :math:`h(\\mathbf{q}, \boldsymbol{\nu})`
     of the model.
 
     Args:
@@ -1243,6 +1243,211 @@ def average_velocity_jacobian(
 # ========================
 
 
+@jax.jit
+def link_bias_accelerations(
+    model: JaxSimModel,
+    data: js.data.JaxSimModelData,
+) -> jtp.Vector:
+    r"""
+    Compute the bias accelerations of the links of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The bias accelerations of the links of the model.
+
+    Note:
+        This function computes the component of the total 6D acceleration not due to
+        the joint or base acceleration.
+        It is often called :math:`\dot{J} \boldsymbol{\nu}`.
+    """
+
+    # ================================================
+    # Compute the body-fixed zero base 6D acceleration
+    # ================================================
+
+    # Compute the base transform.
+    W_H_B = jaxlie.SE3.from_rotation_and_translation(
+        rotation=jaxlie.SO3.from_quaternion_xyzw(
+            xyzw=jaxsim.math.Quaternion.to_xyzw(wxyz=data.base_orientation())
+        ),
+        translation=data.base_position(),
+    ).as_matrix()
+
+    def other_representation_to_inertial(
+        C_v̇_WB: jtp.Vector, C_v_WB: jtp.Vector, W_H_C: jtp.Matrix, W_v_WC: jtp.Vector
+    ) -> jtp.Vector:
+        """
+        Helper to convert the active representation of the base acceleration C_v̇_WB
+        expressed in a generic frame C to the inertial-fixed representation W_v̇_WB.
+        """
+
+        W_X_C = jaxlie.SE3.from_matrix(W_H_C).adjoint()
+        C_X_W = jaxlie.SE3.from_matrix(W_H_C).inverse().adjoint()
+
+        # In Mixed representation, we need to include a cross product in ℝ⁶.
+        # In Inertial and Body representations, the cross product is always zero.
+        return W_X_C @ (C_v̇_WB + jaxsim.math.Cross.vx(C_X_W @ W_v_WC) @ C_v_WB)
+
+    # Here we initialize a zero 6D acceleration in the active representation, and
+    # convert it to inertial-fixed. This is a useful intermediate representation
+    # because the apparent acceleration W_v̇_WB is equal to the intrinsic acceleration
+    # W_a_WB, and intrinsic accelerations can be expressed in different frames through
+    # a simple C_X_W 6D transform.
+    match data.velocity_representation:
+        case VelRepr.Inertial:
+            W_H_C = W_H_W = jnp.eye(4)
+            W_v_WC = W_v_WW = jnp.zeros(6)
+            with data.switch_velocity_representation(VelRepr.Inertial):
+                C_v_WB = W_v_WB = data.base_velocity()
+
+        case VelRepr.Body:
+            W_H_C = W_H_B
+            with data.switch_velocity_representation(VelRepr.Inertial):
+                W_v_WC = W_v_WB = data.base_velocity()
+            with data.switch_velocity_representation(VelRepr.Body):
+                C_v_WB = B_v_WB = data.base_velocity()
+
+        case VelRepr.Mixed:
+            W_H_BW = W_H_B.at[0:3, 0:3].set(jnp.eye(3))
+            W_H_C = W_H_BW
+            with data.switch_velocity_representation(VelRepr.Mixed):
+                W_ṗ_B = data.base_velocity()[0:3]
+                W_v_WC = W_v_W_BW = jnp.zeros(6).at[0:3].set(W_ṗ_B)
+            with data.switch_velocity_representation(VelRepr.Mixed):
+                C_v_WB = BW_v_WB = data.base_velocity()
+        case _:
+            raise ValueError(data.velocity_representation)
+
+    # Convert a zero 6D acceleration from the active representation to inertial-fixed.
+    W_v̇_WB = other_representation_to_inertial(
+        C_v̇_WB=jnp.zeros(6), C_v_WB=C_v_WB, W_H_C=W_H_C, W_v_WC=W_v_WC
+    )
+
+    # ===================================
+    # Initialize buffers and prepare data
+    # ===================================
+
+    # Get the parent array λ(i).
+    # Note: λ(0) must not be used, it's initialized to -1.
+    λ = model.kin_dyn_parameters.parent_array
+
+    # Compute 6D transforms of the base velocity.
+    B_X_W = jaxsim.math.Adjoint.from_transform(transform=W_H_B, inverse=True)
+
+    # Compute the parent-to-child adjoints and the motion subspaces of the joints.
+    # These transforms define the relative kinematics of the entire model, including
+    # the base transform for both floating-base and fixed-base models.
+    i_X_λi, S = model.kin_dyn_parameters.joint_transforms_and_motion_subspaces(
+        joint_positions=data.joint_positions(), base_transform=W_H_B
+    )
+
+    # Allocate the buffer to store the body-fixed link velocities.
+    L_v_WL = jnp.zeros(shape=(model.number_of_links(), 6))
+
+    # Store the base velocity.
+    with data.switch_velocity_representation(VelRepr.Body):
+        B_v_WB = data.base_velocity()
+        L_v_WL = L_v_WL.at[0].set(B_v_WB)
+
+    # Get the joint velocities.
+    ṡ = data.joint_velocities(model=model, joint_names=model.joint_names())
+
+    # Allocate the buffer to store the body-fixed link accelerations,
+    # and initialize the base acceleration.
+    L_v̇_WL = jnp.zeros(shape=(model.number_of_links(), 6))
+    L_v̇_WL = L_v̇_WL.at[0].set(B_X_W @ W_v̇_WB)
+
+    # ======================================
+    # Propagate accelerations and velocities
+    # ======================================
+
+    # The computation of the bias forces is similar to the forward pass of RNEA,
+    # this time with zero base and joint accelerations. Furthermore, here we do
+    # not remove gravity during the propagation.
+
+    # Initialize the loop.
+    Carry = tuple[jtp.MatrixJax, jtp.MatrixJax]
+    carry0: Carry = (L_v_WL, L_v̇_WL)
+
+    def propagate_accelerations(carry: Carry, i: jtp.Int) -> tuple[Carry, None]:
+        # Initialize index and unpack the carry.
+        ii = i - 1
+        v, a = carry
+
+        # Get the motion subspace of the joint.
+        Si = S[i].squeeze()
+
+        # Project the joint velocity into its motion subspace.
+        vJ = Si * ṡ[ii]
+
+        # Propagate the link body-fixed velocity.
+        v_i = i_X_λi[i] @ v[λ[i]] + vJ
+        v = v.at[i].set(v_i)
+
+        # Propagate the link body-fixed acceleration considering zero joint acceleration.
+        s̈ = 0.0
+        a_i = i_X_λi[i] @ a[λ[i]] + Si * s̈ + jaxsim.math.Cross.vx(v[i]) @ vJ
+        a = a.at[i].set(a_i)
+
+        return (v, a), None
+
+    # Compute the body-fixed velocity and body-fixed apparent acceleration of the links.
+    (L_v_WL, L_v̇_WL), _ = (
+        jax.lax.scan(
+            f=propagate_accelerations,
+            init=carry0,
+            xs=jnp.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [(L_v_WL, L_v̇_WL), None]
+    )
+
+    # ===================================================================
+    # Convert the body-fixed 6D acceleration to the active representation
+    # ===================================================================
+
+    def body_to_other_representation(
+        L_v̇_WL: jtp.Vector, L_v_WL: jtp.Vector, C_H_L: jtp.Matrix, L_v_CL: jtp.Vector
+    ) -> jtp.Vector:
+        """
+        Helper to convert the body-fixed apparent acceleration L_v̇_WL to
+        another representation C_v̇_WL expressed in a generic frame C.
+        """
+
+        # In Mixed representation, we need to include a cross product in ℝ⁶.
+        # In Inertial and Body representations, the cross product is always zero.
+        C_X_L = jaxsim.math.Adjoint.from_transform(transform=C_H_L)
+        return C_X_L @ (L_v̇_WL + jaxsim.math.Cross.vx(L_v_CL) @ L_v_WL)
+
+    match data.velocity_representation:
+        case VelRepr.Body:
+            C_H_L = L_H_L = jnp.stack([jnp.eye(4)] * model.number_of_links())
+            L_v_CL = L_v_LL = jnp.zeros(shape=(model.number_of_links(), 6))
+
+        case VelRepr.Inertial:
+            C_H_L = W_H_L = js.model.forward_kinematics(model=model, data=data)
+            L_v_CL = L_v_WL
+
+        case VelRepr.Mixed:
+            W_H_L = js.model.forward_kinematics(model=model, data=data)
+            LW_H_L = jax.vmap(lambda W_H_L: W_H_L.at[0:3, 3].set(jnp.zeros(3)))(W_H_L)
+            C_H_L = LW_H_L
+            L_v_CL = L_v_LW_L = jax.vmap(lambda v: v.at[0:3].set(jnp.zeros(3)))(L_v_WL)
+
+        case _:
+            raise ValueError(data.velocity_representation)
+
+    # Convert from body-fixed to the active representation.
+    O_v̇_WL = jax.vmap(body_to_other_representation)(
+        L_v̇_WL=L_v̇_WL, L_v_WL=L_v_WL, C_H_L=C_H_L, L_v_CL=L_v_CL
+    )
+
+    return O_v̇_WL
+
+
 @jax.jit
 def link_contact_forces(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData

jaxsim/api/ode.py

@@ -8,7 +8,6 @@ import jaxsim.rbda
 import jaxsim.typing as jtp
 from jaxsim.integrators import Time
 from jaxsim.math import Quaternion
-from jaxsim.utils import Mutability
 
 from .common import VelRepr
 from .ode_data import ODEState

jaxsim/integrators/common.py

@@ -324,7 +324,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
     def post_process_state(
         cls, x0: State, t0: Time, xf: NextState, dt: TimeStep
     ) -> NextState:
-        """
+        r"""
         Post-process the integrated state at :math:`t_f = t_0 + \Delta t`.
 
         Args:
@@ -529,7 +529,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         # 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])
+        return True, int(jnp.where(rows_of_A_with_fsal)[0].tolist()[0])
 
 
 class ExplicitRungeKuttaSO3Mixin:

jaxsim/math/transform.py

@@ -1,4 +1,3 @@
-import jax
 import jax.numpy as jnp
 import jaxlie
 

jaxsim/mujoco/loaders.py

@@ -102,7 +102,7 @@ class RodModelToMjcf:
 
         if root.find(f".//joint[@name='{floating_joint_name}']") is not None:
             msg = f"The URDF already has a floating joint '{floating_joint_name}'"
-            warnings.warn(msg)
+            warnings.warn(msg, stacklevel=2)
             return ET.tostring(root, pretty_print=True).decode()
 
         # Create the "world" link if it doesn't exist.

jaxsim/mujoco/model.py

@@ -7,6 +7,8 @@ import numpy as np
 import numpy.typing as npt
 from scipy.spatial.transform import Rotation
 
+import jaxsim.typing as jtp
+
 HeightmapCallable = Callable[[jtp.FloatLike, jtp.FloatLike], jtp.FloatLike]
 
 

jaxsim/parsers/kinematic_graph.py

@@ -268,7 +268,7 @@ class KinematicGraph:
 
         # Return early if there is no action to take
         if len(joint_names_to_remove) == 0:
-            logging.info(f"The kinematic graph doesn't need to be reduced")
+            logging.info("The kinematic graph doesn't need to be reduced")
             return copy.deepcopy(self)
 
         # Check if all considered joints are part of the full kinematic graph

jaxsim/utils/jaxsim_dataclass.py

@@ -1,6 +1,5 @@
 import abc
 import contextlib
-import copy
 import dataclasses
 import functools
 from collections.abc import Iterator

{jaxsim-0.2.dev376.dist-info → jaxsim-0.2.dev394.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev376
+Version: 0.2.dev394
 Summary: A physics engine in reduced coordinates implemented with JAX.
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo

{jaxsim-0.2.dev376.dist-info → jaxsim-0.2.dev394.dist-info}/RECORD

@@ -1,21 +1,21 @@
 jaxsim/__init__.py,sha256=OcrfoYS1DGcmAGqu2AqlCTiUVxcpi-IsVwcr_16x74Q,1789
-jaxsim/_version.py,sha256=nAy-z_b2P4v0CvZeZkkzcsMlBO4LKnDdLnFE2Kq0a4U,423
+jaxsim/_version.py,sha256=so5jZFKl8aDmZRylEyYqJKNNSSEg2aGlO-xfDv0En8w,423
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=MeuOCQtLAr-sPkvB_sU8FtwGNRirz1auCwIgRC-QZl8,646
 jaxsim/api/__init__.py,sha256=fNTCPUeDfOAizRd4RsW3Epv0sLTu0KJGoFRSEsi75VM,162
 jaxsim/api/com.py,sha256=Qtm_6qpiK4WtDVn6JMUHa8DySgBl9CjgKCybJqZ58Lc,7379
-jaxsim/api/common.py,sha256=6oqZO-QTYr2mpMx5qRrAnCIjQpjIJVe7MlavNFIKbNA,6638
+jaxsim/api/common.py,sha256=DV-WZG28sikXopNv458aYvpLjmiAtFr5LRscOwXusuk,6640
 jaxsim/api/contact.py,sha256=Ve4ZOWkLEBRgK3KhtICxKY7YzsxYvc3lO-pPRBjqSnY,8659
-jaxsim/api/data.py,sha256=1AJyKjmXdsWEf_CkvOXRmvRsDZamG706mAAg1Gttll0,26773
+jaxsim/api/data.py,sha256=cPFy6TTm0rNpDk1O0ZxOpvBwWVPu6V14XLRMeC7x81Q,26786
 jaxsim/api/joint.py,sha256=q31Kp3Cqv-yTcxijjzbj_QADFnGQyjb2al9fYZtzedo,4763
 jaxsim/api/kin_dyn_parameters.py,sha256=G4mtSi8fElYe0yttLgsxSOPf7vcK-yqTu06Aa5SSrYg,26012
-jaxsim/api/link.py,sha256=LZVcQhQsTKsfR13KewFtEMYu4siVJl7mqoDwYsoFFes,9240
-jaxsim/api/model.py,sha256=_waDChFZsHRbKOX6dkajRQxGkhqXFRMiMp3JXMqZ-MU,44089
-jaxsim/api/ode.py,sha256=rbSruK0Dkp09oBgHbB_-NrZS4o2tY9geK0yLLJfXzpM,9821
+jaxsim/api/link.py,sha256=rypTwkMf9HJ5UuAtHRJh0LqqdJWcLKTtTjWcjduEsF0,9842
+jaxsim/api/model.py,sha256=u7CZTNc0UY0ZVpUEW-RsZi2UysyzbK06zvSPsdOlPYQ,52269
+jaxsim/api/ode.py,sha256=6l-6i2YHagsQvR8Ac-_fmO6P0hBVT6NkHhwXnrdITEg,9785
 jaxsim/api/ode_data.py,sha256=dwRFVPJ30XMmdUbPXEu7YxsQ97jZP4L4fd5ZzhrO5Ys,22184
 jaxsim/api/references.py,sha256=Lvskf17r619KKxwCJP7hAAty2kaXgDXJX1uKqoDIDgo,15483
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
-jaxsim/integrators/common.py,sha256=APmQVXKdN9JMIq7wrVKq2HlI1UKpqvLqaTqAq0VfJJ0,20700
+jaxsim/integrators/common.py,sha256=9HXRVFo95Mpt6RcVhBrOfvOO7mDxqbkXeg_lKUibEFY,20693
 jaxsim/integrators/fixed_step.py,sha256=JXaEyEzfSiYea0GnPA7l27J3X0YPB0e25D4qfrxAvzQ,2766
 jaxsim/integrators/variable_step.py,sha256=jq3PStzFiMciU7lux6CTj4B3gVOfSpYgK2oz2yzIbdo,21380
 jaxsim/math/__init__.py,sha256=inJ9nRFkqstuGa8OyFkfWVudo5U9Ug4WgDBuKva8AIA,337
@@ -26,14 +26,14 @@ jaxsim/math/joint_model.py,sha256=LKLB26VMz6vx9JLdFUWhGyrElYFEQV-bJiQO5kaZUGY,10
 jaxsim/math/quaternion.py,sha256=X9b8jHf0QemKUjIZSnXRJc3DdMr42CBhBy_mi9_X_AM,5068
 jaxsim/math/rotation.py,sha256=Z90daUjGpuNEVLfWB3SVtM9EtwAIaneVj9A9UpWXqhA,2182
 jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
-jaxsim/math/transform.py,sha256=nqH6ofde6VWjfHihmYdXvDxKFChpOPH6AsoqkUI1Og0,2928
+jaxsim/math/transform.py,sha256=boeuN8df4Yd9NvS64g-xUYoNqG91YafYLam4iITFJVg,2917
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=IGhchLIzINXDm8nDIsy1qIrffoiOpr8Hs36JTOOYVhg,17392
-jaxsim/mujoco/model.py,sha256=GgDlr7fSSEnkyqziPLLQaippMr4wRhfTo39DstD9Qik,12088
+jaxsim/mujoco/loaders.py,sha256=PG6TrmurdF99B_HJW39daNXMYlwGy3JMofb4oTRwPLc,17406
+jaxsim/mujoco/model.py,sha256=ErL4X4QWPCJJJjCAMHsFsksYTgIpmV_M8xWPZc-gQcA,12117
 jaxsim/mujoco/visualizer.py,sha256=-qg26t5tleTva6zzQmc5SdnlC8XZ1ZAwZ_lDjdwHJ0A,4400
 jaxsim/parsers/__init__.py,sha256=sonYi-bBWAoB04kp1mxT4uIORxjb7SdZ0ukGPmVx98Y,44
-jaxsim/parsers/kinematic_graph.py,sha256=2B5gtUboiSVJIm6PegbwHb5g_iXltG0R9_7h8RJ-92M,23785
+jaxsim/parsers/kinematic_graph.py,sha256=_ZJr-u1m64qPCeY6BHTI56dSOWhOGfbg2HN49XbTXhA,23784
 jaxsim/parsers/descriptions/__init__.py,sha256=EbTfnrK3oCxA3pNv--YUwllJ6uICENvFgAdRbYtS9ts,238
 jaxsim/parsers/descriptions/collision.py,sha256=HUWwuRgI9KznY29FFw1_zU3bGigDEezrcPOJSxSJGNU,3382
 jaxsim/parsers/descriptions/joint.py,sha256=hpH0ANvIhbEQk-NGRmWIvPv3lXW385TBIMWNgz5rzM4,4106
@@ -55,10 +55,10 @@ jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=q0xkWqEShVq-p1j2abTLZq8sEhjyJwquxQKm80PaHhM,2161
 jaxsim/utils/__init__.py,sha256=tnQq1_CavdfeKaLYt3pmO7Jk4MU2RwwQU_qICkjyoTY,197
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