jaxsim 0.4.3.dev94__py3-none-any.whl → 0.4.3.dev100__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.dev94'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev94')
+__version__ = version = '0.4.3.dev100'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev100')

jaxsim/api/contact.py

@@ -93,7 +93,10 @@ def collidable_point_velocities(
 
 @jax.jit
 def collidable_point_forces(
-    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+    model: js.model.JaxSimModel,
+    data: js.data.JaxSimModelData,
+    link_forces: jtp.MatrixLike | None = None,
+    joint_force_references: jtp.VectorLike | None = None,
 ) -> jtp.Matrix:
     """
     Compute the 6D forces applied to each collidable point.
@@ -101,13 +104,23 @@ def collidable_point_forces(
     Args:
         model: The model to consider.
         data: The data of the considered model.
+        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 forces applied to each collidable point expressed in the frame
         corresponding to the active representation.
     """
 
-    f_Ci, _ = collidable_point_dynamics(model=model, data=data)
+    f_Ci, _ = collidable_point_dynamics(
+        model=model,
+        data=data,
+        link_forces=link_forces,
+        joint_force_references=joint_force_references,
+    )
 
     return f_Ci
 
@@ -195,6 +208,7 @@ def collidable_point_dynamics(
                 data=data,
                 link_forces=link_forces,
                 joint_force_references=joint_force_references,
+                solver_tol=1e-3,
             )
 
             aux_data = dict()

jaxsim/api/model.py

@@ -1731,7 +1731,10 @@ def link_bias_accelerations(
 
 @jax.jit
 def link_contact_forces(
-    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+    model: js.model.JaxSimModel,
+    data: js.data.JaxSimModelData,
+    link_forces: jtp.MatrixLike | None = None,
+    joint_force_references: jtp.VectorLike | None = None,
 ) -> jtp.Matrix:
     """
     Compute the 6D contact forces of all links of the model.
@@ -1739,6 +1742,11 @@ def link_contact_forces(
     Args:
         model: The model to consider.
         data: The data of the considered model.
+        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:
         A `(nL, 6)` array containing the stacked 6D contact forces of the links,
@@ -1749,10 +1757,44 @@ def link_contact_forces(
     # `jaxsim.api.ode.system_velocity_dynamics`. We cannot merge them since
     # there we need to get also aux_data.
 
+    # Build link forces if not provided.
+    # These forces are expressed in the frame corresponding to the velocity
+    # representation of data.
+    O_f_L = (
+        jnp.atleast_2d(link_forces.squeeze())
+        if link_forces is not None
+        else jnp.zeros((model.number_of_links(), 6))
+    ).astype(float)
+
+    # Build joint force references if not provided.
+    joint_force_references = (
+        jnp.atleast_1d(joint_force_references)
+        if joint_force_references is not None
+        else jnp.zeros(model.dofs())
+    )
+
+    # We expect that the 6D forces included in the `link_forces` argument are expressed
+    # in the frame corresponding to the velocity representation of `data`.
+    input_references = js.references.JaxSimModelReferences.build(
+        model=model,
+        data=data,
+        velocity_representation=data.velocity_representation,
+        link_forces=O_f_L,
+        joint_force_references=joint_force_references,
+    )
+
     # Compute the 6D forces applied to each collidable point expressed in the
     # inertial frame.
-    with data.switch_velocity_representation(VelRepr.Inertial):
-        W_f_C = js.contact.collidable_point_forces(model=model, data=data)
+    with (
+        data.switch_velocity_representation(VelRepr.Inertial),
+        input_references.switch_velocity_representation(VelRepr.Inertial),
+    ):
+        W_f_C = js.contact.collidable_point_forces(
+            model=model,
+            data=data,
+            link_forces=input_references.link_forces(),
+            joint_force_references=input_references.joint_force_references(),
+        )
 
     # Construct the vector defining the parent link index of each collidable point.
     # We use this vector to sum the 6D forces of all collidable points rigidly

jaxsim/rbda/contacts/rigid.py

@@ -215,6 +215,7 @@ class RigidContacts(ContactModel):
         link_forces: jtp.MatrixLike | None = None,
         joint_force_references: jtp.VectorLike | None = None,
         regularization_term: jtp.FloatLike = 1e-6,
+        solver_tol: jtp.FloatLike = 1e-3,
     ) -> tuple[jtp.Vector, tuple[Any, ...]]:
         """
         Compute the contact forces.
@@ -257,6 +258,9 @@ class RigidContacts(ContactModel):
             M = js.model.free_floating_mass_matrix(model=model, data=data)
             J_WC = js.contact.jacobian(model=model, data=data)
             W_H_C = js.contact.transforms(model=model, data=data)
+            J̇_WC_BW = js.contact.jacobian_derivative(model=model, data=data)
+            BW_ν = data.generalized_velocity()
+
         terrain_height = jax.vmap(self.terrain.height)(position[:, 0], position[:, 1])
         n_collidable_points = model.kin_dyn_parameters.contact_parameters.point.shape[0]
 
@@ -295,9 +299,10 @@ class RigidContacts(ContactModel):
             )
 
         free_contact_acc = RigidContacts._linear_acceleration_of_collidable_points(
-            model,
-            data,
-            BW_ν̇_free,
+            BW_nu=BW_ν,
+            BW_nu_dot=BW_ν̇_free,
+            CW_J_WC_BW=J_WC,
+            CW_J_dot_WC_BW=J̇_WC_BW,
         ).flatten()
 
         # Compute stabilization term
@@ -325,7 +330,9 @@ class RigidContacts(ContactModel):
         b = jnp.zeros((0,))
 
         # Solve the optimization problem
-        solution, *_ = qpax.solve_qp(Q=Q, q=q, A=A, b=b, G=G, h=h_bounds)
+        solution, *_ = qpax.solve_qp(
+            Q=Q, q=q, A=A, b=b, G=G, h=h_bounds, solver_tol=solver_tol
+        )
 
         f_C_lin = solution.reshape(-1, 3)
 
@@ -399,24 +406,14 @@ class RigidContacts(ContactModel):
 
     @staticmethod
     def _linear_acceleration_of_collidable_points(
-        model: js.model.JaxSimModel,
-        data: js.data.JaxSimModelData,
-        mixed_nu_dot: jtp.ArrayLike,
+        BW_nu: jtp.ArrayLike,
+        BW_nu_dot: jtp.ArrayLike,
+        CW_J_WC_BW: jtp.MatrixLike,
+        CW_J_dot_WC_BW: jtp.MatrixLike,
     ) -> jtp.Matrix:
-        with data.switch_velocity_representation(VelRepr.Mixed):
-            CW_J_WC_BW = js.contact.jacobian(
-                model=model,
-                data=data,
-                output_vel_repr=VelRepr.Mixed,
-            )
-            CW_J̇_WC_BW = js.contact.jacobian_derivative(
-                model=model,
-                data=data,
-                output_vel_repr=VelRepr.Mixed,
-            )
-
-            BW_ν = data.generalized_velocity()
-            BW_ν̇ = mixed_nu_dot
+        CW_J̇_WC_BW = CW_J_dot_WC_BW
+        BW_ν = BW_nu
+        BW_ν̇ = BW_nu_dot
 
         CW_a_WC = jnp.vstack(CW_J̇_WC_BW) @ BW_ν + jnp.vstack(CW_J_WC_BW) @ BW_ν̇
         CW_a_WC = CW_a_WC.reshape(-1, 6)

{jaxsim-0.4.3.dev94.dist-info → jaxsim-0.4.3.dev100.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev94
+Version: 0.4.3.dev100
 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.dev94.dist-info → jaxsim-0.4.3.dev100.dist-info}/RECORD

@@ -1,18 +1,18 @@
 jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
-jaxsim/_version.py,sha256=f0-5Va8ZSzGXVRJ_ApiuY6zOurBuqFLN7dmOX5CxUAA,426
+jaxsim/_version.py,sha256=6tbBNOYxIl9wn0NrYbEUl4HAOBZXlIyTW1wpZtsJZEA,428
 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=YwiG44giPxFgIaZq24rYxBx6McNgXXFwwiG9tA8801I,22528
+jaxsim/api/contact.py,sha256=BQMIMHBFYiHe_LVx_bwxKCpy20uiy0V-NljHfYXWhI0,23013
 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=ElahFk_RCcLvjTidH2qDOsY-m1gN1hXitCv4SvfgGYY,29260
 jaxsim/api/link.py,sha256=LAA6ZMQXkWomXeptURBtc7z3_xDZ2BBnBMhVrohh0bE,18621
-jaxsim/api/model.py,sha256=WL31JA2jK5L79TJ05ZouIYGe02rQvFItVDqizkzC1UE,66100
+jaxsim/api/model.py,sha256=CAxGDjSSP5coKQXM53pejnF1UmSo851UwZ3fz7JN8RE,67658
 jaxsim/api/ode.py,sha256=gYSbtHWGCDP-IkUzQlH3t0fBKnK8qmxwhIvsbLG9lwU,13616
 jaxsim/api/ode_data.py,sha256=7RSoBhfCJdP6P9InQbDwdBVpClPMMuetewI-6AWm-_0,20276
 jaxsim/api/references.py,sha256=XOVKuQXRmjPoP-T5JWGSbqIGX5DzOkeGafqRpj0ZQEM,20771
@@ -55,7 +55,7 @@ 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=deTC0M2a_RER7iwVpxLCfuSlgBLqkTmHQdOJ4169IR4,13646
-jaxsim/rbda/contacts/rigid.py,sha256=zbSM0miwpgC1rp1d0RoQ1q8pYiKdIkHV8iZimeEPC94,15153
+jaxsim/rbda/contacts/rigid.py,sha256=BYvQgoaG5yKo2N1SLlXgjP6cb1OrJ1BawGXkJf0Hhi0,15060
 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=TGmTQV2Lq7Q-2nLoAEaeNtkPa_qj0IKkdBm4COj46Os,11312
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=Fh82ZcaFi5fUnByyFLnmumaobsu1hJIvFdopUVzJ1ps,4052
-jaxsim-0.4.3.dev94.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev94.dist-info/METADATA,sha256=wEoRAFF3f-3u2hBbHzyOPBQ_mgcwFGcBaPmC-wYuAhE,17276
-jaxsim-0.4.3.dev94.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-jaxsim-0.4.3.dev94.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev94.dist-info/RECORD,,
+jaxsim-0.4.3.dev100.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev100.dist-info/METADATA,sha256=VcqRqSnrI9gZktcAwUSPlwy_OQl-5dWn9ZY9-BjMGyQ,17277
+jaxsim-0.4.3.dev100.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
+jaxsim-0.4.3.dev100.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev100.dist-info/RECORD,,