jaxsim 0.4.3.dev70__py3-none-any.whl → 0.4.3.dev80__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.dev80'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev80')

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/kin_dyn_parameters.py

@@ -98,9 +98,7 @@ class KynDynParameters(JaxsimDataclass):
         ]
 
         # Create a vectorized object of link parameters.
-        link_parameters = jax.tree_util.tree_map(
-            lambda *l: jnp.stack(l), *link_parameters_list
-        )
+        link_parameters = jax.tree.map(lambda *l: jnp.stack(l), *link_parameters_list)
 
         # =================
         # Joints properties
@@ -114,7 +112,7 @@ class KynDynParameters(JaxsimDataclass):
 
         # Create a vectorized object of joint parameters.
         joint_parameters = (
-            jax.tree_util.tree_map(lambda *l: jnp.stack(l), *joint_parameters_list)
+            jax.tree.map(lambda *l: jnp.stack(l), *joint_parameters_list)
             if len(ordered_joints) > 0
             else JointParameters(
                 index=jnp.array([], dtype=int),

jaxsim/api/link.py

@@ -154,7 +154,7 @@ def spatial_inertia(
         idx=link_index,
     )
 
-    link_parameters = jax.tree_util.tree_map(
+    link_parameters = jax.tree.map(
         lambda l: l[link_index], model.kin_dyn_parameters.link_parameters
     )
 

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/integrators/common.py

@@ -173,9 +173,7 @@ class Integrator(JaxsimDataclass, abc.ABC, Generic[State, StateDerivative]):
 
         # Make sure that all leafs of the dictionary are JAX arrays.
         # Also, since these are dummy parameters, set them all to zero.
-        params_after_init = jax.tree_util.tree_map(
-            lambda l: jnp.zeros_like(l), integrator.params
-        )
+        params_after_init = jax.tree.map(lambda l: jnp.zeros_like(l), integrator.params)
 
         # Mark the next step as first step after initialization.
         params_after_init = params_after_init | {
@@ -290,7 +288,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         z, aux_dict = self._compute_next_state(x0=x0, t0=t0, dt=dt, **kwargs)
 
         # The next state is the batch element located at the configured index of solution.
-        next_state = jax.tree_util.tree_map(lambda l: l[self.row_index_of_solution], z)
+        next_state = jax.tree.map(lambda l: l[self.row_index_of_solution], z)
 
         return next_state, aux_dict
 
@@ -327,7 +325,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         """
 
         op = lambda x0_leaf, k_leaf: x0_leaf + dt * k_leaf
-        return jax.tree_util.tree_map(op, x0, k)
+        return jax.tree.map(op, x0, k)
 
     @classmethod
     def post_process_state(
@@ -374,7 +372,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         f = lambda x, t: self.dynamics(x=x, t=t, **kwargs)
 
         # Initialize the carry of the for loop with the stacked kᵢ vectors.
-        carry0 = jax.tree_util.tree_map(
+        carry0 = jax.tree.map(
             lambda l: jnp.repeat(jnp.zeros_like(l)[jnp.newaxis, ...], c.size, axis=0),
             x0,
         )
@@ -398,7 +396,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
 
                 # Compute ∑ⱼ aᵢⱼ kⱼ.
                 op_sum_ak = lambda k: jnp.einsum("s,s...->...", A[i], k)
-                sum_ak = jax.tree_util.tree_map(op_sum_ak, K)
+                sum_ak = jax.tree.map(op_sum_ak, K)
 
                 # Compute the next state for the kᵢ evaluation.
                 # Note that this is not a Δt integration since aᵢⱼ could be fractional.
@@ -419,7 +417,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
 
             # Store the kᵢ derivative in K.
             op = lambda l_k, l_ki: l_k.at[i].set(l_ki)
-            K = jax.tree_util.tree_map(op, K, ki)
+            K = jax.tree.map(op, K, ki)
 
             carry = K
             return carry, aux_dict
@@ -433,14 +431,12 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
 
         # Update the FSAL property for the next iteration.
         if self.has_fsal:
-            self.params["dxdt0"] = jax.tree_util.tree_map(
-                lambda l: l[self.index_of_fsal], K
-            )
+            self.params["dxdt0"] = jax.tree.map(lambda l: l[self.index_of_fsal], K)
 
         # Compute the output state.
         # Note that z contains as many new states as the rows of `b.T`.
         op = lambda x0, k: x0 + Δt * jnp.einsum("zs,s...->z...", b.T, k)
-        z = jax.tree_util.tree_map(op, x0, K)
+        z = jax.tree.map(op, x0, K)
 
         # Transform the final state of the integration.
         # This allows to inject custom logic, if needed.

jaxsim/integrators/variable_step.py

@@ -87,13 +87,13 @@ def estimate_step_size(
 
     # Compute the scaling factors of the initial state and its derivative.
     compute_scale = lambda x: atol + jnp.abs(x) * rtol
-    scale0 = jax.tree_util.tree_map(compute_scale, x0)
-    scale1 = jax.tree_util.tree_map(compute_scale, ẋ0)
+    scale0 = jax.tree.map(compute_scale, x0)
+    scale1 = jax.tree.map(compute_scale, ẋ0)
 
     # Scale the initial state and its derivative.
     scale_pytree = lambda x, scale: jnp.abs(x) / scale
-    x0_scaled = jax.tree_util.tree_map(scale_pytree, x0, scale0)
-    ẋ0_scaled = jax.tree_util.tree_map(scale_pytree, ẋ0, scale1)
+    x0_scaled = jax.tree.map(scale_pytree, x0, scale0)
+    ẋ0_scaled = jax.tree.map(scale_pytree, ẋ0, scale1)
 
     # Get the maximum of the scaled pytrees.
     d0 = jnp.linalg.norm(flatten(x0_scaled), ord=jnp.inf)
@@ -103,16 +103,16 @@ def estimate_step_size(
     h0 = jnp.where(jnp.minimum(d0, d1) <= 1e-5, 1e-6, 0.01 * d0 / d1)
 
     # Compute the next state (explicit Euler step) and its derivative.
-    x1 = jax.tree_util.tree_map(lambda x0, ẋ0: x0 + h0 * ẋ0, x0, ẋ0)
+    x1 = jax.tree.map(lambda x0, ẋ0: x0 + h0 * ẋ0, x0, ẋ0)
     ẋ1 = f(x1, t0 + h0)[0]
 
     # Compute the scaling factor of the state derivatives.
     compute_scale_2 = lambda ẋ0, ẋ1: atol + jnp.maximum(jnp.abs(ẋ0), jnp.abs(ẋ1)) * rtol
-    scale2 = jax.tree_util.tree_map(compute_scale_2, ẋ0, ẋ1)
+    scale2 = jax.tree.map(compute_scale_2, ẋ0, ẋ1)
 
     # Scale the difference of the state derivatives.
     scale_ẋ_difference = lambda ẋ0, ẋ1, scale: jnp.abs((ẋ0 - ẋ1) / scale)
-    ẋ_difference_scaled = jax.tree_util.tree_map(scale_ẋ_difference, ẋ0, ẋ1, scale2)
+    ẋ_difference_scaled = jax.tree.map(scale_ẋ_difference, ẋ0, ẋ1, scale2)
 
     # Get the maximum of the scaled derivatives difference.
     d2 = jnp.linalg.norm(flatten(ẋ_difference_scaled), ord=jnp.inf) / h0
@@ -151,11 +151,11 @@ def compute_pytree_scale(
     """
 
     # Consider a zero second pytree, if not given.
-    x2 = jax.tree_util.tree_map(lambda l: jnp.zeros_like(l), x1) if x2 is None else x2
+    x2 = jax.tree.map(lambda l: jnp.zeros_like(l), x1) if x2 is None else x2
 
     # Compute the scaling factors of the initial state and its derivative.
     compute_scale = lambda l1, l2: atol + jnp.maximum(jnp.abs(l1), jnp.abs(l2)) * rtol
-    scale = jax.tree_util.tree_map(compute_scale, x1, x2)
+    scale = jax.tree.map(compute_scale, x1, x2)
 
     return scale
 
@@ -198,14 +198,14 @@ def local_error_estimation(
 
     # Consider a zero estimated final state, if not given.
     xf_estimate = (
-        jax.tree_util.tree_map(lambda l: jnp.zeros_like(l), xf)
+        jax.tree.map(lambda l: jnp.zeros_like(l), xf)
         if xf_estimate is None
         else xf_estimate
     )
 
     # Estimate the error.
     estimate_error = lambda l, l̂, sc: jnp.abs(l - l̂) / sc
-    error_estimate = jax.tree_util.tree_map(estimate_error, xf, xf_estimate, scale)
+    error_estimate = jax.tree.map(estimate_error, xf, xf_estimate, scale)
 
     # Return the highest element of the error estimate.
     return jnp.linalg.norm(flatten(error_estimate), ord=norm_ord)
@@ -359,10 +359,8 @@ class EmbeddedRungeKutta(ExplicitRungeKutta[PyTreeType], Generic[PyTreeType]):
                 params_next = integrator.params
 
             # Extract the high-order solution xf and the low-order estimate x̂f.
-            xf = jax.tree_util.tree_map(lambda l: l[self.row_index_of_solution], z)
-            x̂f = jax.tree_util.tree_map(
-                lambda l: l[self.row_index_of_solution_estimate], z
-            )
+            xf = jax.tree.map(lambda l: l[self.row_index_of_solution], z)
+            x̂f = jax.tree.map(lambda l: l[self.row_index_of_solution_estimate], z)
 
             # Calculate the local integration error.
             local_error = local_error_estimation(

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
@@ -197,15 +215,22 @@ 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:
-            x, y, z = jax.tree_map(jnp.squeeze, (x, y, z))
+            x, y, z = jax.tree.map(jnp.squeeze, (x, y, z))
 
             n̂ = self.terrain.normal(x=x, y=y).squeeze()
             h = jnp.array([0, 0, z - model.terrain.height(x=x, y=y)])

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/utils/jaxsim_dataclass.py

@@ -298,7 +298,7 @@ class JaxsimDataclass(abc.ABC):
         """
 
         # Make a copy calling tree_map.
-        obj = jax.tree_util.tree_map(lambda leaf: leaf, self)
+        obj = jax.tree.map(lambda leaf: leaf, self)
 
         # Make sure that the copied object and all the copied leaves have the same
         # mutability of the original object.

{jaxsim-0.4.3.dev70.dist-info → jaxsim-0.4.3.dev80.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev70
+Version: 0.4.3.dev80
 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>
@@ -60,9 +60,9 @@ Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
-Requires-Dist: jax>=0.4.13
+Requires-Dist: jax>=0.4.26
 Requires-Dist: jaxopt>=0.8.0
-Requires-Dist: jaxlib>=0.4.13
+Requires-Dist: jaxlib>=0.4.26
 Requires-Dist: jaxlie>=1.3.0
 Requires-Dist: jax-dataclasses>=1.4.0
 Requires-Dist: pptree

{jaxsim-0.4.3.dev70.dist-info → jaxsim-0.4.3.dev80.dist-info}/RECORD

@@ -1,25 +1,25 @@
 jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
-jaxsim/_version.py,sha256=TimgvJoa-WOzfWYDSSYt46dywfeE4QnnNq6VHB1jyaQ,426
+jaxsim/_version.py,sha256=G5Qm6992nEqZe7NQkfmL8p-gHKaNDVraUdwnF4D-BbI,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/kin_dyn_parameters.py,sha256=FrWymdta36THv5QFTzxorJtYiKTVDg7HqOcPTHa12VM,29327
+jaxsim/api/link.py,sha256=LAA6ZMQXkWomXeptURBtc7z3_xDZ2BBnBMhVrohh0bE,18621
 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
-jaxsim/integrators/common.py,sha256=XIrJVJDO0ldaZ93WgoGNlFoRvazsRJTpO3DrK9kIXqM,20437
+jaxsim/integrators/common.py,sha256=78MBs89GxsL0wU2yAexjvBZt3HEtfZoGVIN9f0a8yTc,20305
 jaxsim/integrators/fixed_step.py,sha256=KpjRd6hHtapxDoo6D1kyDrVDSHnke2TepI5grFH7_bM,2693
-jaxsim/integrators/variable_step.py,sha256=5StkFh9oQba34zlkIoXG2fUN78gbxkHePWbrpQ-QZOI,21274
+jaxsim/integrators/variable_step.py,sha256=cJD98q5BaiSKvp_KY_1KN3PZpAUJR3L8YRmLX5WPJJo,21114
 jaxsim/math/__init__.py,sha256=8oPITEoGwgRcOeG8KxtqxPQ8b5uku1HNRMokpCoi9Tc,352
 jaxsim/math/adjoint.py,sha256=o1FCipkGwPtMbN2gFNIyUV8ADF3TX5fxElpTEXK0bIs,4377
 jaxsim/math/cross.py,sha256=U7yEx_l75mSy5g6O-jsjBztApvxC3WaV4MpkS5tThu4,1330
@@ -54,17 +54,17 @@ 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=deTC0M2a_RER7iwVpxLCfuSlgBLqkTmHQdOJ4169IR4,13646
+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
 jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
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