jaxsim 0.4.1.dev11__py3-none-any.whl → 0.4.1.dev24__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.1.dev11'
-__version_tuple__ = version_tuple = (0, 4, 1, 'dev11')
+__version__ = version = '0.4.1.dev24'
+__version_tuple__ = version_tuple = (0, 4, 1, 'dev24')

jaxsim/integrators/common.py

@@ -5,11 +5,12 @@ from typing import Any, ClassVar, Generic, Protocol, Type, TypeVar
 import jax
 import jax.numpy as jnp
 import jax_dataclasses
-import jaxlie
 from jax_dataclasses import Static
 
 import jaxsim.api as js
+import jaxsim.math
 import jaxsim.typing as jtp
+from jaxsim import exceptions
 from jaxsim.utils.jaxsim_dataclass import JaxsimDataclass, Mutability
 
 try:
@@ -539,48 +540,38 @@ class ExplicitRungeKuttaSO3Mixin:
     `PyTreeType = ODEState` to integrate the quaternion on SO(3).
     """
 
-    @classmethod
-    def integrate_rk_stage(
-        cls, x0: js.ode_data.ODEState, t0: Time, dt: TimeStep, k: js.ode_data.ODEState
-    ) -> js.ode_data.ODEState:
-
-        op = lambda x0_leaf, k_leaf: x0_leaf + dt * k_leaf
-        xf: js.ode_data.ODEState = jax.tree_util.tree_map(op, x0, k)
-
-        W_Q_B_tf = xf.physics_model.base_quaternion
-
-        return xf.replace(
-            physics_model=xf.physics_model.replace(
-                base_quaternion=W_Q_B_tf / jnp.linalg.norm(W_Q_B_tf)
-            )
-        )
-
     @classmethod
     def post_process_state(
         cls, x0: js.ode_data.ODEState, t0: Time, xf: js.ode_data.ODEState, dt: TimeStep
     ) -> js.ode_data.ODEState:
 
-        # Indices to convert quaternions between serializations.
-        to_xyzw = jnp.array([1, 2, 3, 0])
+        # Extract the initial base quaternion.
+        W_Q_B_t0 = x0.physics_model.base_quaternion
 
-        # Get the initial rotation.
-        W_R_B_t0 = jaxlie.SO3.from_quaternion_xyzw(
-            xyzw=x0.physics_model.base_quaternion[to_xyzw]
+        # We assume that the initial quaternion is already unary.
+        exceptions.raise_runtime_error_if(
+            condition=jnp.logical_not(jnp.allclose(W_Q_B_t0.dot(W_Q_B_t0), 1.0)),
+            msg="The SO(3) integrator received a quaternion at t0 that is not unary.",
         )
 
-        # Get the final angular velocity.
-        # This is already computed by averaging the kᵢ in RK-based schemes.
-        # Therefore, by using the ω at tf, we obtain a RK scheme operating
-        # on the SO(3) manifold.
-        W_ω_WB_tf = xf.physics_model.base_angular_velocity
-
-        # Integrate the orientation on SO(3).
-        # Note that we left-multiply with the exponential map since the angular
-        # velocity is expressed in the inertial frame.
-        W_R_B_tf = jaxlie.SO3.exp(tangent=dt * W_ω_WB_tf) @ W_R_B_t0
+        # Get the angular velocity ω to integrate the quaternion.
+        # This velocity ω[t0] is computed in the previous timestep by averaging the kᵢ
+        # corresponding to the active RK-based scheme. Therefore, by using the ω[t0],
+        # we obtain an explicit RK scheme operating on the SO(3) manifold.
+        # Note that the current integrator is not a semi-implicit scheme, therefore
+        # using the final ω[tf] would be not correct.
+        W_ω_WB_t0 = x0.physics_model.base_angular_velocity
+
+        # Integrate the quaternion on SO(3).
+        W_Q_B_tf = jaxsim.math.Quaternion.integration(
+            quaternion=W_Q_B_t0,
+            dt=dt,
+            omega=W_ω_WB_t0,
+            omega_in_body_fixed=False,
+        )
 
         # Replace the quaternion in the final state.
         return xf.replace(
-            physics_model=xf.physics_model.replace(base_quaternion=W_R_B_tf.wxyz),
+            physics_model=xf.physics_model.replace(base_quaternion=W_Q_B_tf),
             validate=True,
         )

jaxsim/mujoco/loaders.py

@@ -1,12 +1,17 @@
+from __future__ import annotations
+
 import dataclasses
 import pathlib
 import tempfile
 import warnings
-from typing import Any
+from typing import Any, Sequence
 
 import mujoco as mj
+import numpy as np
+import numpy.typing as npt
 import rod.urdf.exporter
 from lxml import etree as ET
+from scipy.spatial.transform import Rotation
 
 
 def load_rod_model(
@@ -161,7 +166,12 @@ class RodModelToMjcf:
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
         heightmap_samples_xy: tuple[int, int] = (101, 101),
-        cameras: list[dict[str, str]] | dict[str, str] | None = None,
+        cameras: (
+            MujocoCamera
+            | Sequence[MujocoCamera]
+            | dict[str, str]
+            | Sequence[dict[str, str]]
+        ) = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a ROD model to a Mujoco MJCF string.
@@ -172,10 +182,10 @@ class RodModelToMjcf:
             plane_normal: The normal vector of the plane.
             heightmap: Whether to generate a heightmap.
             heightmap_samples_xy: The number of points in the heightmap grid.
-            cameras: The list of cameras to add to the scene.
+            cameras: The custom cameras to add to the scene.
 
         Returns:
-            tuple: A tuple containing the MJCF string and the dictionary of assets.
+            A tuple containing the MJCF string and the dictionary of assets.
         """
 
         # -------------------------------------
@@ -250,7 +260,6 @@ class RodModelToMjcf:
 
         parser = ET.XMLParser(remove_blank_text=True)
         root: ET._Element = ET.fromstring(text=urdf_string.encode(), parser=parser)
-        import numpy as np
 
         # Give a tiny radius to all dummy spheres
         for geometry in root.findall(".//visual/geometry[sphere]"):
@@ -478,14 +487,17 @@ class RodModelToMjcf:
             fovy="60",
         )
 
-        # Add user-defined camera
-        cameras = cameras if cameras is not None else []
-        for camera in cameras if isinstance(cameras, list) else [cameras]:
-            mj_camera = MujocoCamera.build(**camera)
-            _ = ET.SubElement(
-                worldbody_element, "camera", dataclasses.asdict(mj_camera)
+        # Add user-defined camera.
+        for camera in cameras if isinstance(cameras, Sequence) else [cameras]:
+
+            mj_camera = (
+                camera
+                if isinstance(camera, MujocoCamera)
+                else MujocoCamera.build(**camera)
             )
 
+            _ = ET.SubElement(worldbody_element, "camera", mj_camera.asdict())
+
         # ------------------------------------------------
         # Add a light following the  CoM of the first link
         # ------------------------------------------------
@@ -598,21 +610,114 @@ class SdfToMjcf:
 
 @dataclasses.dataclass
 class MujocoCamera:
-    name: str
-    mode: str
-    pos: str
-    xyaxes: str
-    fovy: str
+    """
+    Helper class storing parameters of a Mujoco camera.
+
+    Refer to the official documentation for more details:
+    https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-camera
+    """
+
+    mode: str = "fixed"
+
+    target: str | None = None
+    fovy: str = "45"
+    pos: str = "0 0 0"
+
+    quat: str | None = None
+    axisangle: str | None = None
+    xyaxes: str | None = None
+    zaxis: str | None = None
+    euler: str | None = None
+
+    name: str | None = None
 
     @classmethod
-    def build(cls, **kwargs):
+    def build(cls, **kwargs) -> MujocoCamera:
+
         if not all(isinstance(value, str) for value in kwargs.values()):
             raise ValueError("Values must be strings")
 
-        if len(kwargs["pos"].split()) != 3:
-            raise ValueError("pos must have three values separated by space")
+        return cls(**kwargs)
 
-        if len(kwargs["xyaxes"].split()) != 6:
-            raise ValueError("xyaxes must have six values separated by space")
+    @staticmethod
+    def build_from_target_view(
+        camera_name: str,
+        lookat: Sequence[float | int] | npt.NDArray = (0, 0, 0),
+        distance: float | int | npt.NDArray = 3,
+        azimut: float | int | npt.NDArray = 90,
+        elevation: float | int | npt.NDArray = -45,
+        fovy: float | int | npt.NDArray = 45,
+        degrees: bool = True,
+        **kwargs,
+    ) -> MujocoCamera:
+        """
+        Create a custom camera that looks at a target point.
 
-        return cls(**kwargs)
+        Note:
+            The choice of the parameters is easier if we imagine to consider a target
+            frame `T` whose origin is located over the lookat point and having the same
+            orientation of the world frame `W`. We also introduce a camera frame `C`
+            whose origin is located over the lower-left corner of the image, and having
+            the x-axis pointing right and the y-axis pointing up in image coordinates.
+            The camera renders what it sees in the -z direction of frame `C`.
+
+        Args:
+            camera_name: The name of the camera.
+            lookat: The target point to look at (origin of `T`).
+            distance:
+                The distance from the target point (displacement between the origins
+                of `T` and `C`).
+            azimut:
+                The rotation around z of the camera. With an angle of 0, the camera
+                would loot at the target point towards the positive x-axis of `T`.
+            elevation:
+                The rotation around the x-axis of the camera frame `C`. Note that if
+                you want to lift the view angle, the elevation is negative.
+            fovy: The field of view of the camera.
+            degrees: Whether the angles are in degrees or radians.
+            **kwargs: Additional camera parameters.
+
+        Returns:
+            The custom camera.
+        """
+
+        # Start from a frame whose origin is located over the lookat point.
+        # We initialize a -90 degrees rotation around the z-axis because due to
+        # the default camera coordinate system (x pointing right, y pointing up).
+        W_H_C = np.eye(4)
+        W_H_C[0:3, 3] = np.array(lookat)
+        W_H_C[0:3, 0:3] = Rotation.from_euler(
+            seq="ZX", angles=[-90, 90], degrees=True
+        ).as_matrix()
+
+        # Process the azimut.
+        R_az = Rotation.from_euler(seq="Y", angles=azimut, degrees=degrees).as_matrix()
+        W_H_C[0:3, 0:3] = W_H_C[0:3, 0:3] @ R_az
+
+        # Process elevation.
+        R_el = Rotation.from_euler(
+            seq="X", angles=elevation, degrees=degrees
+        ).as_matrix()
+        W_H_C[0:3, 0:3] = W_H_C[0:3, 0:3] @ R_el
+
+        # Process distance.
+        tf_distance = np.eye(4)
+        tf_distance[2, 3] = distance
+        W_H_C = W_H_C @ tf_distance
+
+        # Extract the position and the quaternion.
+        p = W_H_C[0:3, 3]
+        Q = Rotation.from_matrix(W_H_C[0:3, 0:3]).as_quat(scalar_first=True)
+
+        return MujocoCamera.build(
+            name=camera_name,
+            mode="fixed",
+            fovy=f"{fovy if degrees else np.rad2deg(fovy)}",
+            pos=" ".join(p.astype(str).tolist()),
+            quat=" ".join(Q.astype(str).tolist()),
+            **kwargs,
+        )
+
+    def asdict(self) -> dict[str, str]:
+
+        return {k: v for k, v in dataclasses.asdict(self).items() if v is not None}

jaxsim/mujoco/visualizer.py

@@ -1,10 +1,11 @@
 import contextlib
 import pathlib
-from typing import ContextManager
+from typing import ContextManager, Sequence
 
 import mediapy as media
 import mujoco as mj
 import mujoco.viewer
+import numpy as np
 import numpy.typing as npt
 
 
@@ -62,18 +63,16 @@ class MujocoVideoRecorder:
         self.data = data if data is not None else self.data
         self.model = model if model is not None else self.model
 
-    def render_frame(self, camera_name: str | None = None) -> npt.NDArray:
+    def render_frame(self, camera_name: str = "track") -> npt.NDArray:
         """Renders a frame."""
-        camera_name = camera_name or "track"
 
         mujoco.mj_forward(self.model, self.data)
         self.renderer.update_scene(data=self.data, camera=camera_name)
 
         return self.renderer.render()
 
-    def record_frame(self, camera_name: str | None = None) -> None:
+    def record_frame(self, camera_name: str = "track") -> None:
         """Stores a frame in the buffer."""
-        camera_name = camera_name or "track"
 
         frame = self.render_frame(camera_name=camera_name)
         self.frames.append(frame)
@@ -167,13 +166,72 @@ class MujocoVisualizer:
         self,
         model: mj.MjModel | None = None,
         data: mj.MjData | None = None,
+        *,
         close_on_exit: bool = True,
+        lookat: Sequence[float | int] | npt.NDArray | None = None,
+        distance: float | int | npt.NDArray | None = None,
+        azimut: float | int | npt.NDArray | None = None,
+        elevation: float | int | npt.NDArray | None = None,
     ) -> ContextManager[mujoco.viewer.Handle]:
-        """Context manager to open a viewer."""
+        """
+        Context manager to open the Mujoco passive viewer.
+
+        Note:
+            Refer to the Mujoco documentation for details of the camera options:
+            https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-global
+        """
 
         handle = self.open_viewer(model=model, data=data)
 
+        handle = MujocoVisualizer.setup_viewer_camera(
+            viewer=handle,
+            lookat=lookat,
+            distance=distance,
+            azimut=azimut,
+            elevation=elevation,
+        )
+
         try:
             yield handle
         finally:
             _ = handle.close() if close_on_exit else None
+
+    @staticmethod
+    def setup_viewer_camera(
+        viewer: mj.viewer.Handle,
+        *,
+        lookat: Sequence[float | int] | npt.NDArray | None,
+        distance: float | int | npt.NDArray | None = None,
+        azimut: float | int | npt.NDArray | None = None,
+        elevation: float | int | npt.NDArray | None = None,
+    ) -> mj.viewer.Handle:
+        """
+        Configure the initial viewpoint of the Mujoco passive viewer.
+
+        Note:
+            Refer to the Mujoco documentation for details of the camera options:
+            https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-global
+
+        Returns:
+            The viewer with configured camera.
+        """
+
+        if lookat is not None:
+
+            lookat_array = np.array(lookat, dtype=float).squeeze()
+
+            if lookat_array.size != 3:
+                raise ValueError(lookat)
+
+            viewer.cam.lookat = lookat_array
+
+        if distance is not None:
+            viewer.cam.distance = float(distance)
+
+        if azimut is not None:
+            viewer.cam.azimuth = float(azimut) % 360
+
+        if elevation is not None:
+            viewer.cam.elevation = float(elevation)
+
+        return viewer

jaxsim/rbda/utils.py

@@ -2,6 +2,7 @@ import jax.numpy as jnp
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
+from jaxsim import exceptions
 from jaxsim.math import StandardGravity
 
 
@@ -131,6 +132,13 @@ def process_inputs(
     if W_Q_B.shape != (4,):
         raise ValueError(W_Q_B.shape, (4,))
 
+    # Check that the quaternion is unary since our RBDAs make this assumption in order
+    # to prevent introducing additional normalizations that would affect AD.
+    exceptions.raise_value_error_if(
+        condition=jnp.logical_not(jnp.allclose(W_Q_B.dot(W_Q_B), 1.0)),
+        msg="A RBDA received a quaternion that is not normalized.",
+    )
+
     # Pack the 6D base velocity and acceleration.
     W_v_WB = jnp.hstack([W_vl_WB, W_ω_WB])
     W_v̇_WB = jnp.hstack([W_v̇l_WB, W_ω̇_WB])

{jaxsim-0.4.1.dev11.dist-info → jaxsim-0.4.1.dev24.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.1.dev11
+Version: 0.4.1.dev24
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>
 Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
@@ -82,6 +82,7 @@ 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'
 
 # JaxSim
 

{jaxsim-0.4.1.dev11.dist-info → jaxsim-0.4.1.dev24.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=ixsS4dYMPex2wOUUp_rkPnwrPhYzkRh1xO_YuMj3Cr4,2626
-jaxsim/_version.py,sha256=7ZFpPaz7M9u-cSnMJ8POHhkQ3_j7elMp-k9w58-1Rgw,426
+jaxsim/_version.py,sha256=eeZ5Y19dhLeCQ434QMOmUfyUSYKLUe1iSigAdx-dgIA,426
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=IbFx3UkEXi-cm7UBqMPi58rJAFV_HbZ9E_K4JwfNvVM,753
@@ -17,7 +17,7 @@ jaxsim/api/ode.py,sha256=NnLTBvpaT4kXnbjAghXIzLv9DTMJ8bele2iOlUQDv3Q,11028
 jaxsim/api/ode_data.py,sha256=9YZX-SK_KJtoIqG-zYWZsQInb2NA_LtxDn-jtLqm_3U,19759
 jaxsim/api/references.py,sha256=UA6kSQVBoq-bXSo99EOELf-_MD5MTy2zS0GtG3wQ410,16618
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
-jaxsim/integrators/common.py,sha256=JXJECMkE-ZSmRt0-5koAw1vnmzkFewZ0aBrnP0bTpZY,20260
+jaxsim/integrators/common.py,sha256=iwFykYZxdchqJcmcx8MFWEVijS5Hx9wCNKLKAJdF4gE,20103
 jaxsim/integrators/fixed_step.py,sha256=KpjRd6hHtapxDoo6D1kyDrVDSHnke2TepI5grFH7_bM,2693
 jaxsim/integrators/variable_step.py,sha256=0FCmAZIFnhvQxVbAzNfZgCWN1yMRTGVdBm9UwwaXI1o,21280
 jaxsim/math/__init__.py,sha256=8oPITEoGwgRcOeG8KxtqxPQ8b5uku1HNRMokpCoi9Tc,352
@@ -31,9 +31,9 @@ jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
 jaxsim/math/transform.py,sha256=_5kSnfkS6_vxvjxdw50KeXMjvW8e1OGaumUlk1iGJgc,2969
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=hwT8cjMEZmVaPMs4RzS4UEgC0_c9Od9817UcbNANPBc,21345
+jaxsim/mujoco/loaders.py,sha256=He55jmkC5wQpMhEIDHOXXbqgWNjJ2fx16wOTStp_3PA,25111
 jaxsim/mujoco/model.py,sha256=EwUPg9BsNv1B7TdDfjZCpC022lDR16AyIAajPJGH7NU,16357
-jaxsim/mujoco/visualizer.py,sha256=9jfKXkuoaW7Ppo_0m8dogD3SxH13K2strFNDVLtG3hA,5154
+jaxsim/mujoco/visualizer.py,sha256=XvMzGSHM-xnOSYl1Vk6bPe6j6ylQmJeLOgxHgL6I1nw,6966
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/parsers/kinematic_graph.py,sha256=88d0EmndVJWdcyFJsW25S78Z8F04cUt08RQMyoil1Xw,34734
 jaxsim/parsers/descriptions/__init__.py,sha256=PbIlunVfb59pB5jSX97YVpMAANRZPRkJ0X-hS14rzv4,221
@@ -51,7 +51,7 @@ jaxsim/rbda/crba.py,sha256=NhtZO48OUKKor7ddY7mB7h7a6idrmOyf0Vy4p7UCCgI,4724
 jaxsim/rbda/forward_kinematics.py,sha256=OEQYovnLKsWphUKhigmWa_384LwZW3Csp0MKufw4e1M,3415
 jaxsim/rbda/jacobian.py,sha256=I6mrlkk7Cpq3CE7k_tajOHCbT6vf2pW6vMS0TKNCnng,10725
 jaxsim/rbda/rnea.py,sha256=UrhcL93fp3pAKlGxOPS6X47L0ferH50bcSMzG55t4zY,7626
-jaxsim/rbda/utils.py,sha256=dPRWG8pV7rm3VivP09NE2ttX6wHCRNir4wuixGA_G2Y,5003
+jaxsim/rbda/utils.py,sha256=eeT21Y4DiiyhrdF0lUE_VvRuwru5-rR7yOlOlWzCCWE,5381
 jaxsim/rbda/contacts/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/rbda/contacts/common.py,sha256=iMKLP30Qft9eGTiHo2iY-UoACJjg1JphA9_pW8wRdjc,2410
 jaxsim/rbda/contacts/soft.py,sha256=3cDynim_tIgcbzRuqpHN82v4ELlxxK6lR-PG0haSK7Q,15660
@@ -61,8 +61,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=fLl1tY3DDb3lpIhG6BPqA5W34hM84oFzL-5cuz8k-68,11379
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=GOJQCJc5zwzoEGZB62wnWWGvUUQlXvDxz_A2Q-hFv7c,4027
-jaxsim-0.4.1.dev11.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.1.dev11.dist-info/METADATA,sha256=RQcmfKhS454m3fgEmDhJP00XtQFwnxWeXaBkTWiUKaQ,16779
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-jaxsim-0.4.1.dev11.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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