jaxsim 0.4.3.dev94__py3-none-any.whl → 0.4.3.dev97__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.dev97'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev97')

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
 

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-0.4.3.dev94.dist-info → jaxsim-0.4.3.dev97.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev94
+Version: 0.4.3.dev97
 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.dev97.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=riqB2Q7Zs4o0SGcY3Iy0aOEgFrNB6sdtU1rQ9czad4I,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=YwiG44giPxFgIaZq24rYxBx6McNgXXFwwiG9tA8801I,22528
+jaxsim/api/contact.py,sha256=lTCCYEh0t1XPz-hFapHzyU6c1LcCq6QcZgZnv3grXYE,22980
 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
@@ -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.dev97.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev97.dist-info/METADATA,sha256=53FEV8OdSD0cdz2Hm1dtfd_aPsJPrKoNkA4mycVTOco,17276
+jaxsim-0.4.3.dev97.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
+jaxsim-0.4.3.dev97.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev97.dist-info/RECORD,,