jaxsim 0.4.3.dev70__py3-none-any.whl → 0.4.3.dev77__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.3.dev70'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev70')
+__version__ = version = '0.4.3.dev77'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev77')

jaxsim/api/contact.py

@@ -117,6 +117,7 @@ def collidable_point_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
     link_forces: jtp.MatrixLike | None = None,
+    joint_force_references: jtp.VectorLike | None = None,
 ) -> tuple[jtp.Matrix, dict[str, jtp.Array]]:
     r"""
     Compute the 6D force applied to each collidable point.
@@ -127,6 +128,8 @@ def collidable_point_dynamics(
         link_forces:
             The 6D external forces to apply to the links expressed in the same
             representation of data.
+        joint_force_references:
+            The joint force references to apply to the joints.
 
     Returns:
         The 6D force applied to each collidable point and additional data based on the contact model configured:
@@ -191,6 +194,7 @@ def collidable_point_dynamics(
                 model=model,
                 data=data,
                 link_forces=link_forces,
+                joint_force_references=joint_force_references,
             )
 
             aux_data = dict()
@@ -212,6 +216,7 @@ def collidable_point_dynamics(
                 model=model,
                 data=data,
                 link_forces=link_forces,
+                joint_force_references=joint_force_references,
             )
 
             aux_data = dict()

jaxsim/api/ode.py

@@ -95,7 +95,7 @@ def system_velocity_dynamics(
     Args:
         model: The model to consider.
         data: The data of the considered model.
-        joint_forces: The joint forces to apply.
+        joint_forces: The joint force references to apply.
         link_forces:
             The 6D forces to apply to the links expressed in the frame corresponding to
             the velocity representation of `data`.
@@ -120,6 +120,7 @@ def system_velocity_dynamics(
     references = js.references.JaxSimModelReferences.build(
         model=model,
         link_forces=O_f_L,
+        joint_force_references=joint_forces,
         data=data,
         velocity_representation=data.velocity_representation,
     )
@@ -149,6 +150,7 @@ def system_velocity_dynamics(
                 model=model,
                 data=data,
                 link_forces=references.link_forces(model=model, data=data),
+                joint_force_references=references.joint_force_references(model=model),
             )
 
         # Construct the vector defining the parent link index of each collidable point.

jaxsim/rbda/contacts/relaxed_rigid.py

@@ -189,7 +189,25 @@ class RelaxedRigidContacts(ContactModel):
         model: js.model.JaxSimModel,
         data: js.data.JaxSimModelData,
         link_forces: jtp.MatrixLike | None = None,
+        joint_force_references: jtp.VectorLike | None = None,
     ) -> tuple[jtp.Vector, tuple[Any, ...]]:
+        """
+        Compute the contact forces.
+
+        Args:
+            position: The position of the collidable point.
+            velocity: The linear velocity of the collidable point.
+            model: The `JaxSimModel` instance.
+            data: The `JaxSimModelData` instance.
+            link_forces:
+                Optional `(n_links, 6)` matrix of external forces acting on the links,
+                expressed in the same representation of data.
+            joint_force_references:
+                Optional `(n_joints,)` vector of joint forces.
+
+        Returns:
+            A tuple containing the contact forces.
+        """
 
         link_forces = (
             link_forces
@@ -197,11 +215,18 @@ class RelaxedRigidContacts(ContactModel):
             else jnp.zeros((model.number_of_links(), 6))
         )
 
+        joint_force_references = (
+            joint_force_references
+            if joint_force_references is not None
+            else jnp.zeros(model.number_of_joints())
+        )
+
         references = js.references.JaxSimModelReferences.build(
             model=model,
             data=data,
             velocity_representation=data.velocity_representation,
             link_forces=link_forces,
+            joint_force_references=joint_force_references,
         )
 
         def _detect_contact(x: jtp.Array, y: jtp.Array, z: jtp.Array) -> jtp.Array:

jaxsim/rbda/contacts/rigid.py

@@ -213,6 +213,7 @@ class RigidContacts(ContactModel):
         model: js.model.JaxSimModel,
         data: js.data.JaxSimModelData,
         link_forces: jtp.MatrixLike | None = None,
+        joint_force_references: jtp.VectorLike | None = None,
         regularization_term: jtp.FloatLike = 1e-6,
     ) -> tuple[jtp.Vector, tuple[Any, ...]]:
         """
@@ -226,6 +227,8 @@ class RigidContacts(ContactModel):
             link_forces:
                 Optional `(n_links, 6)` matrix of external forces acting on the links,
                 expressed in the same representation of data.
+            joint_force_references:
+                Optional `(n_joints,)` vector of joint forces.
             regularization_term:
                 The regularization term to add to the diagonal of the Delassus
                 matrix for better numerical conditioning.
@@ -243,6 +246,12 @@ class RigidContacts(ContactModel):
             else jnp.zeros((model.number_of_links(), 6))
         )
 
+        joint_force_references = (
+            joint_force_references
+            if joint_force_references is not None
+            else jnp.zeros((model.number_of_joints(),))
+        )
+
         # Compute kin-dyn quantities used in the contact model
         with data.switch_velocity_representation(VelRepr.Mixed):
             M = js.model.free_floating_mass_matrix(model=model, data=data)
@@ -269,6 +278,7 @@ class RigidContacts(ContactModel):
             data=data,
             velocity_representation=data.velocity_representation,
             link_forces=link_forces,
+            joint_force_references=joint_force_references,
         )
 
         with (

{jaxsim-0.4.3.dev70.dist-info → jaxsim-0.4.3.dev77.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev70
+Version: 0.4.3.dev77
 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>

{jaxsim-0.4.3.dev70.dist-info → jaxsim-0.4.3.dev77.dist-info}/RECORD

@@ -1,19 +1,19 @@
 jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
-jaxsim/_version.py,sha256=TimgvJoa-WOzfWYDSSYt46dywfeE4QnnNq6VHB1jyaQ,426
+jaxsim/_version.py,sha256=iooIC7hyVsbupWXsxWXV06oZTPyCALANUUOu7UZTm8Y,426
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=2HXy9hgazPXjofi1vLQ09ZubPtgVmg80U9NKmZ6NYiI,761
 jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
 jaxsim/api/com.py,sha256=m-p3EJDhpnMTlXKplfbZE_aH9NqX_VyLlAE3vUhc6l4,13642
 jaxsim/api/common.py,sha256=SNgxq42r6eF_-aPszvOjUYkGwXOzz4hKmhDwEUkscFQ,6650
-jaxsim/api/contact.py,sha256=C_PgMjWYYiqpA7Oz3IxHeFgrp855-xG6AQr6Ze98CtI,21863
+jaxsim/api/contact.py,sha256=Ek1xSKB_VWjfqsqRYlK236ountKmGTl1M04cTYqHgsE,22142
 jaxsim/api/data.py,sha256=QldUHniJqKrdNtAcXuRaS9UyeslJ0Rjvb17UA0Ca5Tw,29008
 jaxsim/api/frame.py,sha256=KS8A5wRfjxhe9NgcVo2QA516iP5zky7UVnWxG7nTa7c,12911
 jaxsim/api/joint.py,sha256=lksT1Doxz2jknHyhb4ls20z6f6dofpZSzBJtVacZXAE,7129
 jaxsim/api/kin_dyn_parameters.py,sha256=CcfSg5Mc8qb1mZeMQ4AK_ffZIsK5yOl7tu397pFhcDA,29369
 jaxsim/api/link.py,sha256=qPRtc8qqMRjZxUCZYXJMygbB6huDXBfIT1b1b8Durkw,18631
 jaxsim/api/model.py,sha256=TLjgacgTXm-2YRGDA0Id9pe9nxIem28KoAls6Tdk9WM,66241
-jaxsim/api/ode.py,sha256=AE_obhb1u_xMGs8b4OlOXTvvQrbXOODqIDUWV5VGrJI,13376
+jaxsim/api/ode.py,sha256=ZshGdHptftku0yoUwBiBdd1iOqntH0vVEOjRHfL7Fao,13518
 jaxsim/api/ode_data.py,sha256=7RSoBhfCJdP6P9InQbDwdBVpClPMMuetewI-6AWm-_0,20276
 jaxsim/api/references.py,sha256=XOVKuQXRmjPoP-T5JWGSbqIGX5DzOkeGafqRpj0ZQEM,20771
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
@@ -54,8 +54,8 @@ jaxsim/rbda/rnea.py,sha256=CLfqs9XFVaD-hvkLABshDAfdw5bm_AMV3UVAQ_IvURQ,7542
 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=VwAs742futAmLnDgbaOuLzNDBFiKDfYItdEZ4UcFgzE,2467
-jaxsim/rbda/contacts/relaxed_rigid.py,sha256=9YkPLbK6Kk0wPkuj47r7NBqY2tARyJsiCbrvDlOWHSI,12700
-jaxsim/rbda/contacts/rigid.py,sha256=fbZk7sC6YOnTs_tzQRfsyBpHyT22XF-wB-EvOSZmhos,14746
+jaxsim/rbda/contacts/relaxed_rigid.py,sha256=0rrk73MKMVPkEXf1MTEmCnXaPWzzEw6U9RHZtLNIu_E,13646
+jaxsim/rbda/contacts/rigid.py,sha256=zbSM0miwpgC1rp1d0RoQ1q8pYiKdIkHV8iZimeEPC94,15153
 jaxsim/rbda/contacts/soft.py,sha256=_wvb5iZDjGcVg6rNQelN4LZN7qSC2NIp0HdKvZmlGfk,15647
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=xUQg47yGxIOcTkLPbnO3sruEGBhoCd16j1evTGlmNjI,5010
@@ -63,8 +63,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=FSiUvdnq4Y1T9Jaa_mw4ZBQJe8H7deLr3Kupxtlh4iI,11322
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=Fh82ZcaFi5fUnByyFLnmumaobsu1hJIvFdopUVzJ1ps,4052
-jaxsim-0.4.3.dev70.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev70.dist-info/METADATA,sha256=G6d-f4k63c6A1nozzlueaBz-fSgvz4zfpQIBecmGAiA,17276
-jaxsim-0.4.3.dev70.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-jaxsim-0.4.3.dev70.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev70.dist-info/RECORD,,
+jaxsim-0.4.3.dev77.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev77.dist-info/METADATA,sha256=SfRw58102asAL9OAPXqsvh9nr8FVvLamf9dCNL9XXPo,17276
+jaxsim-0.4.3.dev77.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
+jaxsim-0.4.3.dev77.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev77.dist-info/RECORD,,