jaxsim 0.3.1.dev40__py3-none-any.whl → 0.3.1.dev46__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.3.1.dev40'
-__version_tuple__ = version_tuple = (0, 3, 1, 'dev40')
+__version__ = version = '0.3.1.dev46'
+__version_tuple__ = version_tuple = (0, 3, 1, 'dev46')

jaxsim/api/frame.py

@@ -4,11 +4,11 @@ from typing import Sequence
 import jax
 import jax.numpy as jnp
 import jaxlie
-import numpy as np
 
 import jaxsim.api as js
 import jaxsim.math
 import jaxsim.typing as jtp
+from jaxsim import exceptions
 
 from .common import VelRepr
 
@@ -17,22 +17,32 @@ from .common import VelRepr
 # =======================
 
 
+@jax.jit
 def idx_of_parent_link(
-    model: js.model.JaxSimModel, *, frame_idx: jtp.IntLike
+    model: js.model.JaxSimModel, *, frame_index: jtp.IntLike
 ) -> jtp.Int:
     """
     Get the index of the link to which the frame is rigidly attached.
 
     Args:
         model: The model to consider.
-        frame_idx: The index of the frame.
+        frame_index: The index of the frame.
 
     Returns:
         The index of the frame's parent link.
     """
 
+    n_l = model.number_of_links()
+    n_f = len(model.frame_names())
+
+    exceptions.raise_value_error_if(
+        condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(),
+        msg="Invalid frame index '{idx}'",
+        idx=frame_index,
+    )
+
     return model.kin_dyn_parameters.frame_parameters.body[
-        frame_idx - model.number_of_links()
+        frame_index - model.number_of_links()
     ]
 
 
@@ -49,19 +59,17 @@ def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.Int:
         The index of the frame.
     """
 
-    if frame_name in model.kin_dyn_parameters.frame_parameters.name:
-        return (
-            jnp.array(
-                np.argwhere(
-                    np.array(model.kin_dyn_parameters.frame_parameters.name)
-                    == frame_name
-                )
-            )
-            .squeeze()
-            .astype(int)
-        ) + model.number_of_links()
+    if frame_name not in model.kin_dyn_parameters.frame_parameters.name:
+        raise ValueError(f"Frame '{frame_name}' not found in the model.")
 
-    return jnp.array(-1).astype(int)
+    return (
+        jnp.array(
+            model.number_of_links()
+            + model.kin_dyn_parameters.frame_parameters.name.index(frame_name)
+        )
+        .astype(int)
+        .squeeze()
+    )
 
 
 def idx_to_name(model: js.model.JaxSimModel, *, frame_index: jtp.IntLike) -> str:
@@ -76,6 +84,15 @@ def idx_to_name(model: js.model.JaxSimModel, *, frame_index: jtp.IntLike) -> str
         The name of the frame.
     """
 
+    n_l = model.number_of_links()
+    n_f = len(model.frame_names())
+
+    exceptions.raise_value_error_if(
+        condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(),
+        msg="Invalid frame index '{idx}'",
+        idx=frame_index,
+    )
+
     return model.kin_dyn_parameters.frame_parameters.name[
         frame_index - model.number_of_links()
     ]
@@ -142,8 +159,17 @@ def transform(
         The 4x4 matrix representing the transform.
     """
 
+    n_l = model.number_of_links()
+    n_f = len(model.frame_names())
+
+    exceptions.raise_value_error_if(
+        condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(),
+        msg="Invalid frame index '{idx}'",
+        idx=frame_index,
+    )
+
     # Compute the necessary transforms.
-    L = idx_of_parent_link(model=model, frame_idx=frame_index)
+    L = idx_of_parent_link(model=model, frame_index=frame_index)
     W_H_L = js.link.transform(model=model, data=data, link_index=L)
 
     # Get the static frame pose wrt the parent link.
@@ -181,12 +207,21 @@ def jacobian(
         velocity representation.
     """
 
+    n_l = model.number_of_links()
+    n_f = len(model.frame_names())
+
+    exceptions.raise_value_error_if(
+        condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(),
+        msg="Invalid frame index '{idx}'",
+        idx=frame_index,
+    )
+
     output_vel_repr = (
         output_vel_repr if output_vel_repr is not None else data.velocity_representation
     )
 
     # Get the index of the parent link.
-    L = idx_of_parent_link(model=model, frame_idx=frame_index)
+    L = idx_of_parent_link(model=model, frame_index=frame_index)
 
     # Compute the Jacobian of the parent link using body-fixed output representation.
     L_J_WL = js.link.jacobian(

jaxsim/api/joint.py

@@ -6,6 +6,7 @@ import jax.numpy as jnp
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
+from jaxsim import exceptions
 
 # =======================
 # Index-related functions
@@ -25,14 +26,18 @@ def name_to_idx(model: js.model.JaxSimModel, *, joint_name: str) -> jtp.Int:
         The index of the joint.
     """
 
-    if joint_name in model.kin_dyn_parameters.joint_model.joint_names:
-        # Note: the index of the joint for RBDAs starts from 1, but
-        # the index for accessing the right element starts from 0.
-        # Therefore, there is a -1.
-        return jnp.array(
+    if joint_name not in model.joint_names():
+        raise ValueError(f"Joint '{joint_name}' not found in the model.")
+
+    # Note: the index of the joint for RBDAs starts from 1, but the index for
+    # accessing the right element starts from 0. Therefore, there is a -1.
+    return (
+        jnp.array(
             model.kin_dyn_parameters.joint_model.joint_names.index(joint_name) - 1
-        ).squeeze()
-    return jnp.array(-1).astype(int)
+        )
+        .astype(int)
+        .squeeze()
+    )
 
 
 def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike) -> str:
@@ -47,6 +52,14 @@ def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike) -> str
         The name of the joint.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [joint_index < 0, joint_index >= model.number_of_joints()]
+        ).any(),
+        msg="Invalid joint index '{idx}'",
+        idx=joint_index,
+    )
+
     return model.kin_dyn_parameters.joint_model.joint_names[joint_index + 1]
 
 
@@ -112,6 +125,14 @@ def position_limit(
     if model.number_of_joints() <= 1:
         return jnp.empty(0).astype(float), jnp.empty(0).astype(float)
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [joint_index < 0, joint_index >= model.number_of_joints()]
+        ).any(),
+        msg="Invalid joint index '{idx}'",
+        idx=joint_index,
+    )
+
     s_min = model.kin_dyn_parameters.joint_parameters.position_limits_min[joint_index]
     s_max = model.kin_dyn_parameters.joint_parameters.position_limits_max[joint_index]
 

jaxsim/api/link.py

@@ -5,11 +5,11 @@ import jax
 import jax.numpy as jnp
 import jax.scipy.linalg
 import jaxlie
-import numpy as np
 
 import jaxsim.api as js
 import jaxsim.rbda
 import jaxsim.typing as jtp
+from jaxsim import exceptions
 
 from .common import VelRepr
 
@@ -31,15 +31,14 @@ def name_to_idx(model: js.model.JaxSimModel, *, link_name: str) -> jtp.Int:
         The index of the link.
     """
 
-    if link_name in model.kin_dyn_parameters.link_names:
-        return (
-            jnp.array(
-                np.argwhere(np.array(model.kin_dyn_parameters.link_names) == link_name)
-            )
-            .squeeze()
-            .astype(int)
-        )
-    return jnp.array(-1).astype(int)
+    if link_name not in model.link_names():
+        raise ValueError(f"Link '{link_name}' not found in the model.")
+
+    return (
+        jnp.array(model.kin_dyn_parameters.link_names.index(link_name))
+        .astype(int)
+        .squeeze()
+    )
 
 
 def idx_to_name(model: js.model.JaxSimModel, *, link_index: jtp.IntLike) -> str:
@@ -54,6 +53,14 @@ def idx_to_name(model: js.model.JaxSimModel, *, link_index: jtp.IntLike) -> str:
         The name of the link.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     return model.kin_dyn_parameters.link_names[link_index]
 
 
@@ -112,6 +119,14 @@ def mass(model: js.model.JaxSimModel, *, link_index: jtp.IntLike) -> jtp.Float:
         The mass of the link.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     return model.kin_dyn_parameters.link_parameters.mass[link_index].astype(float)
 
 
@@ -131,6 +146,14 @@ def spatial_inertia(
         the link frame (body-fixed representation).
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     link_parameters = jax.tree_util.tree_map(
         lambda l: l[link_index], model.kin_dyn_parameters.link_parameters
     )
@@ -157,6 +180,14 @@ def transform(
         The 4x4 matrix representing the transform.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     return js.model.forward_kinematics(model=model, data=data)[link_index]
 
 
@@ -230,6 +261,14 @@ def jacobian(
         velocity representation.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     output_vel_repr = (
         output_vel_repr if output_vel_repr is not None else data.velocity_representation
     )
@@ -318,6 +357,14 @@ def velocity(
         The 6D velocity of the link in the specified velocity representation.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     output_vel_repr = (
         output_vel_repr if output_vel_repr is not None else data.velocity_representation
     )
@@ -364,6 +411,14 @@ def jacobian_derivative(
         velocity representation.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     output_vel_repr = (
         output_vel_repr if output_vel_repr is not None else data.velocity_representation
     )
@@ -538,6 +593,14 @@ def bias_acceleration(
         The 6D bias acceleration of the link.
     """
 
+    exceptions.raise_value_error_if(
+        condition=jnp.array(
+            [link_index < 0, link_index >= model.number_of_links()]
+        ).any(),
+        msg="Invalid link index '{idx}'",
+        idx=link_index,
+    )
+
     # 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-0.3.1.dev40.dist-info → jaxsim-0.3.1.dev46.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev40
+Version: 0.3.1.dev46
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.3.1.dev40.dist-info → jaxsim-0.3.1.dev46.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=xzuTuZrgKdWLqqDzbvqzm2cJrEtAbepOeUqDu7ByVek,2621
-jaxsim/_version.py,sha256=JHeHgaRnZLSH9QDd807jRnlOgX9sn4w_CGqGSxA8lL0,426
+jaxsim/_version.py,sha256=9MZZuPQZKCPbVj6_p_Ju-do62zKeUP7ohaQeRYNKN3w,426
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=cl7HHQCeP3mHmtF6EuQZcCjGvDmc_AryMWntP_lRBGg,722
@@ -8,10 +8,10 @@ jaxsim/api/com.py,sha256=Yof6otFi-mLWAs1rqjmeNJTOWIH9gn7BdU5EIjiL6Ts,13481
 jaxsim/api/common.py,sha256=bqQ__pIQZbh-j8rkoHUkYHAgGiJnDzjHG-q4Ny0OOYQ,6646
 jaxsim/api/contact.py,sha256=soB28vqmzUwE6CN36TU4keASWZoSWE2_zhJLXA8yw2E,13132
 jaxsim/api/data.py,sha256=oAJ2suPeQLQZGpHZi98g6UZp1VcoDtuqT_aZBpynA30,27582
-jaxsim/api/frame.py,sha256=vSbFHL4WtKPySxunNoZLlM_aDuJXZtf8CSBKku63BAs,6178
-jaxsim/api/joint.py,sha256=-5DogPg4g4mmLckyVIVNjwv-Rxz0IWS7_md9nDlhPWA,4581
+jaxsim/api/frame.py,sha256=m_waB9_0kgJq5miiZDXdRzIZii-BwQaN9bRt22JkJ1I,7212
+jaxsim/api/joint.py,sha256=Pvg_It2iYA-jAQ2nOlFZxwmITiozO_f46G13BdQtHQ0,5106
 jaxsim/api/kin_dyn_parameters.py,sha256=AEpDg9kihbKUN9PA8pNrAruSuWFUC-k_GGxtlcdcDiQ,29215
-jaxsim/api/link.py,sha256=MdMWaMpM5Dj5JHK8uwHZ4zR4Fjq3R4asi2sGTxk1OAs,16647
+jaxsim/api/link.py,sha256=edXaNO0TcqyFyMOlIlCnReQK_VP8p38crLEp0of7mWo,18404
 jaxsim/api/model.py,sha256=HAnrlgPDl5CCZQzQ84AfjC_DZjmrCzBKEDodE6hyLf8,60518
 jaxsim/api/ode.py,sha256=xQL53ppnKweMQWRNm5gGR8FTjqRVzds8WKg9js9k5TA,10780
 jaxsim/api/ode_data.py,sha256=Sa2i1zZhqyQqIGv1jarTmmU-W9HhTw-DErs12kFA1GA,19737
@@ -61,8 +61,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=h26timZ_XrBL_Q_oymv-DkQd-EcUiHn8QexAaZXBY9c,11396
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=QIJitSoljrKR_U4T3ewCJPT3DTh-tPZsRsg0t_MH93E,3896
-jaxsim-0.3.1.dev40.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.3.1.dev40.dist-info/METADATA,sha256=ds7zFF0BWvBs8TLnHcQ54-diuMpka_Y5NKlF-vDK2nA,9739
-jaxsim-0.3.1.dev40.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-jaxsim-0.3.1.dev40.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.3.1.dev40.dist-info/RECORD,,
+jaxsim-0.3.1.dev46.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.3.1.dev46.dist-info/METADATA,sha256=KS14B2THB9Wao1MpRKEp345CTkC7PMLMfUOSbOkYbBA,9739
+jaxsim-0.3.1.dev46.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+jaxsim-0.3.1.dev46.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.3.1.dev46.dist-info/RECORD,,