jaxsim 0.4.3.dev97__py3-none-any.whl → 0.4.3.dev105__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.dev97'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev97')
+__version__ = version = '0.4.3.dev105'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev105')

jaxsim/api/contact.py

@@ -208,6 +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

@@ -106,8 +106,8 @@ class JaxSimModel(JaxsimDataclass):
             terrain:
                 The optional terrain to consider.
             is_urdf:
-                Whether the model description is a URDF or an SDF. This is
-                automatically inferred if the model description is a path to a file.
+                The optional flag to force the model description to be parsed as a
+                URDF or a SDF. This is otherwise automatically inferred.
             considered_joints:
                 The list of joints to consider. If None, all joints are considered.
 
@@ -120,7 +120,7 @@ class JaxSimModel(JaxsimDataclass):
         # Parse the input resource (either a path to file or a string with the URDF/SDF)
         # and build the -intermediate- model description.
         intermediate_description = jaxsim.parsers.rod.build_model_description(
-            model_description=model_description, is_urdf=is_urdf
+            model_description=model_description
         )
 
         # Lump links together if not all joints are considered.

jaxsim/mujoco/loaders.py

@@ -25,7 +25,7 @@ def load_rod_model(
 
     Args:
         model_description: The URDF/SDF file or ROD model to load.
-        is_urdf: Whether the model description is a URDF file.
+        is_urdf: Whether to force parsing the model description as a URDF file.
         model_name: The name of the model to load from the resource.
 
     Returns:

jaxsim/parsers/rod/parser.py

@@ -33,7 +33,7 @@ class SDFData(NamedTuple):
 
 
 def extract_model_data(
-    model_description: pathlib.Path | str | rod.Model,
+    model_description: pathlib.Path | str | rod.Model | rod.Sdf,
     model_name: str | None = None,
     is_urdf: bool | None = None,
 ) -> SDFData:
@@ -41,30 +41,37 @@ def extract_model_data(
     Extract data from an SDF/URDF resource useful to build a JaxSim model.
 
     Args:
-        model_description: A path to an SDF/URDF file, a string containing its content,
-          or a pre-parsed/pre-built rod model.
+        model_description:
+            A path to an SDF/URDF file, a string containing its content, or
+            a pre-parsed/pre-built rod model.
         model_name: The name of the model to extract from the SDF resource.
-        is_urdf: Whether the SDF resource is a URDF file. Needed only if model_description
-            is a URDF string.
+        is_urdf:
+            Whether to force parsing the resource as a URDF file. Automatically
+            detected if not provided.
 
     Returns:
         The extracted model data.
     """
 
-    if isinstance(model_description, rod.Model):
-        sdf_model = model_description
-    else:
-        # Parse the SDF resource.
-        sdf_element = rod.Sdf.load(sdf=model_description, is_urdf=is_urdf)
-
-        if len(sdf_element.models()) == 0:
-            raise RuntimeError("Failed to find any model in SDF resource")
-
-        # Assume the SDF resource has only one model, or the desired model name is given.
-        sdf_models = {m.name: m for m in sdf_element.models()}
-        sdf_model = (
-            sdf_element.models()[0] if len(sdf_models) == 1 else sdf_models[model_name]
-        )
+    match model_description:
+        case rod.Model():
+            sdf_model = model_description
+        case rod.Sdf() | str() | pathlib.Path():
+            sdf_element = (
+                model_description
+                if isinstance(model_description, rod.Sdf)
+                else rod.Sdf.load(sdf=model_description, is_urdf=is_urdf)
+            )
+            if not sdf_element.models():
+                raise RuntimeError("Failed to find any model in SDF resource")
+
+            # Assume the SDF resource has only one model, or the desired model name is given.
+            sdf_models = {m.name: m for m in sdf_element.models()}
+            sdf_model = (
+                sdf_element.models()[0]
+                if len(sdf_models) == 1
+                else sdf_models[model_name]
+            )
 
     # Log model name.
     logging.debug(msg=f"Found model '{sdf_model.name}' in SDF resource")
@@ -344,7 +351,7 @@ def extract_model_data(
 
 def build_model_description(
     model_description: pathlib.Path | str | rod.Model,
-    is_urdf: bool | None = False,
+    is_urdf: bool | None = None,
 ) -> descriptions.ModelDescription:
     """
     Builds a model description from an SDF/URDF resource.
@@ -352,8 +359,9 @@ def build_model_description(
     Args:
         model_description: A path to an SDF/URDF file, a string containing its content,
           or a pre-parsed/pre-built rod model.
-        is_urdf: Whether the SDF resource is a URDF file. Needed only if model_description
-            is a URDF string.
+        is_urdf: Whether the force parsing the resource as a URDF file. Automatically
+            detected if not provided.
+
     Returns:
         The parsed model description.
     """

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.dev97.dist-info → jaxsim-0.4.3.dev105.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev97
+Version: 0.4.3.dev105
 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>
@@ -67,7 +67,7 @@ Requires-Dist: jaxlie>=1.3.0
 Requires-Dist: jax-dataclasses>=1.4.0
 Requires-Dist: pptree
 Requires-Dist: qpax
-Requires-Dist: rod>=0.3.0
+Requires-Dist: rod>=0.3.3
 Requires-Dist: typing-extensions; python_version < "3.12"
 Provides-Extra: all
 Requires-Dist: jaxsim[style,testing,viz]; extra == "all"

{jaxsim-0.4.3.dev97.dist-info → jaxsim-0.4.3.dev105.dist-info}/RECORD

@@ -1,18 +1,18 @@
 jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
-jaxsim/_version.py,sha256=riqB2Q7Zs4o0SGcY3Iy0aOEgFrNB6sdtU1rQ9czad4I,426
+jaxsim/_version.py,sha256=1Pw2WIpSfIcMXUmFaqKP5hkuhIK6fZ2PSjrJqsDco98,428
 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=lTCCYEh0t1XPz-hFapHzyU6c1LcCq6QcZgZnv3grXYE,22980
+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=CAxGDjSSP5coKQXM53pejnF1UmSo851UwZ3fz7JN8RE,67658
+jaxsim/api/model.py,sha256=FLCk3fKUfLp3eCPrFEgPljTDp3zgIJnVW5Gwx0fWAog,67637
 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
@@ -31,7 +31,7 @@ jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
 jaxsim/math/transform.py,sha256=KXzQgOnCfAtbXCwxhplpJ3F0JT3oEyeLVby1_uRAryQ,2892
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=_8Af_5Yo0-lWHE-46BBMcrqSJnDNxr3peyc519DExtA,25322
+jaxsim/mujoco/loaders.py,sha256=qT7Le_L7z2prXKA7O9x5rkbbh-_lIrrmLXTjgoAjhZ4,25339
 jaxsim/mujoco/model.py,sha256=AQksXemXWACJ3yvefV2G5HLwwBU9ISoJrOD1wlxdY5w,16386
 jaxsim/mujoco/visualizer.py,sha256=T1vU-w4NKSmgEkZ0FqVcGmIvYrYO0len2UBSsU4MOZ0,6978
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -42,7 +42,7 @@ jaxsim/parsers/descriptions/joint.py,sha256=VSb6C0FBBKMqwrHBKfc-Bbn4rl_J0RzUxMQl
 jaxsim/parsers/descriptions/link.py,sha256=Eh0W5qL7_Uw0GV-BkNKXhm9Q2dRTfIWCX5D-87zQkxA,3711
 jaxsim/parsers/descriptions/model.py,sha256=I2Vsbv8Josl4Le7b5rIvhqA2k9Bbv5JxMqwytayxds0,9833
 jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrGU,92
-jaxsim/parsers/rod/parser.py,sha256=9EigYv2oGn4bfIY1q0Cd_55yVKfN2rXP_MuZSZqGxYM,13681
+jaxsim/parsers/rod/parser.py,sha256=9zBYTQF2vC4NO6HEZBvV8VTaGuZSdbd3v66BAcMpuVI,13923
 jaxsim/parsers/rod/utils.py,sha256=5DsF3OeePZGidOJ5GiFSZx-51uIdnFvMW9EK6SgOW6Q,5698
 jaxsim/rbda/__init__.py,sha256=H7DhXpxkPOi9lpUvg31IMHFfRafke1UoJLc5GQIdyhA,387
 jaxsim/rbda/aba.py,sha256=w7ciyxB0IsmueatT0C7PcBQEl9dyiH9oqJgIi3xeTUE,8983
@@ -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.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,,
+jaxsim-0.4.3.dev105.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev105.dist-info/METADATA,sha256=jYNJIkcAgei9qg7OLD7-E0HHYZRb3h4qFdmaVnyHXGo,17277
+jaxsim-0.4.3.dev105.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
+jaxsim-0.4.3.dev105.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev105.dist-info/RECORD,,