jaxsim 0.4.3.dev133__tar.gz → 0.4.3.dev139__tar.gz

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev133
+Version: 0.4.3.dev139
 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>
@@ -61,11 +61,11 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
 Requires-Dist: jax>=0.4.26
-Requires-Dist: jaxopt>=0.8.0
 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"

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/environment.yml

@@ -8,10 +8,10 @@ dependencies:
   - python >= 3.12.0
   - coloredlogs
   - jax >= 0.4.26
-  - jaxopt >= 0.8.0
   - jaxlib >= 0.4.26
   - jaxlie >= 1.3.0
   - jax-dataclasses >= 1.4.0
+  - optax >= 0.2.3
   - pptree
   - qpax
   - rod >= 0.3.3

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/pyproject.toml

@@ -45,11 +45,11 @@ classifiers = [
 dependencies = [
     "coloredlogs",
     "jax >= 0.4.26",
-    "jaxopt >= 0.8.0",
     "jaxlib >= 0.4.26",
     "jaxlie >= 1.3.0",
     "jax_dataclasses >= 1.4.0",
     "pptree",
+    "optax >= 0.2.3",
     "qpax",
     "rod >= 0.3.3",
     "typing_extensions ; python_version < '3.12'",

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.3.dev133'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev133')
+__version__ = version = '0.4.3.dev139'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev139')

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/src/jaxsim/integrators/variable_step.py

@@ -262,7 +262,9 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
             **kwargs,
         )
 
-    def __call__(self, x0: State, t0: Time, dt: TimeStep, **kwargs) -> NextState:
+    def __call__(
+        self, x0: State, t0: Time, dt: TimeStep, **kwargs
+    ) -> tuple[NextState, dict[str, Any]]:
 
         # This method is called differently in three stages:
         #
@@ -294,14 +296,17 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
         # In Stage 3, dt0 is taken from the previous step. If the integrator supports
         # FSAL, dxdt0 is taken from the previous step. Otherwise, it is computed by
         # evaluating the dynamics.
-        self.params["dt0"], self.params["dxdt0"] = jax.lax.cond(
+        self.params["dt0"], self.params["dxdt0"], aux_dict = jax.lax.cond(
             pred=jnp.logical_or("dt0" not in self.params, integrator_first_step),
-            true_fun=lambda params: estimate_step_size(
-                x0=x0, t0=t0, f=f, order=p, atol=self.atol, rtol=self.rtol
+            true_fun=lambda params: (
+                *estimate_step_size(
+                    x0=x0, t0=t0, f=f, order=p, atol=self.atol, rtol=self.rtol
+                ),
+                self.params.get("dxdt0", f(x0, t0))[1],
             ),
             false_fun=lambda params: (
                 params.get("dt0", jnp.array(0).astype(float)),
-                self.params.get("dxdt0", f(x0, t0)[0]),
+                *self.params.get("dxdt0", f(x0, t0)),
             ),
             operand=self.params,
         )
@@ -355,7 +360,7 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
             # The output z contains multiple solutions (depending on the rows of b.T).
             with self.editable(validate=True) as integrator:
                 integrator.params = params
-                z = integrator._compute_next_state(x0=x0, t0=t0, dt=Δt0, **kwargs)
+                z, _ = integrator._compute_next_state(x0=x0, t0=t0, dt=Δt0, **kwargs)
                 params_next = integrator.params
 
             # Extract the high-order solution xf and the low-order estimate x̂f.
@@ -481,7 +486,7 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
         with self.mutable_context(mutability=Mutability.MUTABLE):
             self.params = params_tf
 
-        return xf
+        return xf, aux_dict
 
     @property
     def order_of_solution(self) -> int:

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/src/jaxsim/rbda/contacts/relaxed_rigid.py

@@ -1,12 +1,13 @@
 from __future__ import annotations
 
 import dataclasses
+from collections.abc import Callable
 from typing import Any
 
 import jax
 import jax.numpy as jnp
 import jax_dataclasses
-import jaxopt
+import optax
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
@@ -297,24 +298,71 @@ class RelaxedRigidContacts(ContactModel):
         A = G + R
         b = CW_al_free_WC - a_ref
 
-        objective = lambda x: jnp.sum(jnp.square(A @ x + b))
+        objective = lambda x, A, b: jnp.sum(jnp.square(A @ x + b))
 
-        # Compute the 3D linear force in C[W] frame
-        opt = jaxopt.LBFGS(
-            fun=objective,
-            maxiter=self.parameters.max_iterations,
-            tol=self.parameters.tolerance,
-            maxls=30,
-            history_size=10,
-            max_stepsize=100.0,
-        )
+        def run_optimization(
+            init_params: jtp.Array,
+            fun: Callable,
+            opt: optax.GradientTransformation,
+            maxiter: jtp.Int,
+            tol: jtp.Float,
+            **kwargs,
+        ):
+            value_and_grad_fn = optax.value_and_grad_from_state(fun)
+
+            def step(carry):
+                params, state = carry
+                value, grad = value_and_grad_fn(
+                    params,
+                    state=state,
+                    A=A,
+                    b=b,
+                )
+                updates, state = opt.update(
+                    updates=grad,
+                    state=state,
+                    params=params,
+                    value=value,
+                    grad=grad,
+                    value_fn=fun,
+                    A=A,
+                    b=b,
+                )
+                params = optax.apply_updates(params, updates)
+                return params, state
+
+            def continuing_criterion(carry):
+                _, state = carry
+                iter_num = optax.tree_utils.tree_get(state, "count")
+                grad = optax.tree_utils.tree_get(state, "grad")
+                err = optax.tree_utils.tree_l2_norm(grad)
+                return (iter_num == 0) | ((iter_num < maxiter) & (err >= tol))
+
+            init_carry = (init_params, opt.init(init_params))
+            final_params, final_state = jax.lax.while_loop(
+                continuing_criterion, step, init_carry
+            )
+            return final_params, final_state
 
         init_params = (
             K[:, jnp.newaxis] * jnp.zeros_like(position).at[:, 2].set(δ)
             + D[:, jnp.newaxis] * velocity
         ).flatten()
 
-        CW_f_Ci = opt.run(init_params=init_params).params.reshape(-1, 3)
+        # Compute the 3D linear force in C[W] frame
+        CW_f_Ci, _ = run_optimization(
+            init_params=init_params,
+            A=A,
+            b=b,
+            maxiter=self.parameters.max_iterations,
+            opt=optax.lbfgs(
+                memory_size=10,
+            ),
+            fun=objective,
+            tol=self.parameters.tolerance,
+        )
+
+        CW_f_Ci = CW_f_Ci.reshape((-1, 3))
 
         def mixed_to_inertial(W_H_C: jax.Array, CW_fl: jax.Array) -> jax.Array:
             W_Xf_CW = Adjoint.from_transform(

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev133
+Version: 0.4.3.dev139
 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>
@@ -61,11 +61,11 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
 Requires-Dist: jax>=0.4.26
-Requires-Dist: jaxopt>=0.8.0
 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"

{jaxsim-0.4.3.dev133 → jaxsim-0.4.3.dev139}/src/jaxsim.egg-info/requires.txt

@@ -1,10 +1,10 @@
 coloredlogs
 jax>=0.4.26
-jaxopt>=0.8.0
 jaxlib>=0.4.26
 jaxlie>=1.3.0
 jax_dataclasses>=1.4.0
 pptree
+optax>=0.2.3
 qpax
 rod>=0.3.3