jaxsim 0.4.3.dev97__tar.gz → 0.4.3.dev105__tar.gz

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/PKG-INFO

@@ -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: style
 Requires-Dist: black[jupyter]~=24.0; extra == "style"

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/environment.yml

@@ -14,7 +14,7 @@ dependencies:
   - jax-dataclasses >= 1.4.0
   - pptree
   - qpax
-  - rod >= 0.3.0
+  - rod >= 0.3.3
   - typing_extensions # python<3.12
   # ====================================
   # Optional dependencies from setup.cfg

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/examples/PD_controller.ipynb

@@ -100,7 +100,7 @@
     "num_steps = int(integration_time / dt)\n",
     "\n",
     "model = js.model.JaxSimModel.build_from_model_description(\n",
-    "    model_description=model_urdf_string, is_urdf=True\n",
+    "    model_description=model_urdf_string\n",
     ")\n",
     "data = js.data.JaxSimModelData.build(model=model)\n",
     "integrator = integrators.fixed_step.RungeKutta4SO3.build(\n",

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/pyproject.toml

@@ -51,7 +51,7 @@ dependencies = [
     "jax_dataclasses >= 1.4.0",
     "pptree",
     "qpax",
-    "rod >= 0.3.0",
+    "rod >= 0.3.3",
     "typing_extensions ; python_version < '3.12'",
 ]
 

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/src/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-0.4.3.dev97 → jaxsim-0.4.3.dev105}/src/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-0.4.3.dev97 → jaxsim-0.4.3.dev105}/src/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-0.4.3.dev97 → jaxsim-0.4.3.dev105}/src/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-0.4.3.dev97 → jaxsim-0.4.3.dev105}/src/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-0.4.3.dev97 → jaxsim-0.4.3.dev105}/src/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 → jaxsim-0.4.3.dev105}/src/jaxsim.egg-info/PKG-INFO

@@ -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: style
 Requires-Dist: black[jupyter]~=24.0; extra == "style"

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/src/jaxsim.egg-info/requires.txt

@@ -6,7 +6,7 @@ jaxlie>=1.3.0
 jax_dataclasses>=1.4.0
 pptree
 qpax
-rod>=0.3.0
+rod>=0.3.3
 
 [:python_version < "3.12"]
 typing_extensions

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/tests/conftest.py

@@ -83,24 +83,9 @@ def build_jaxsim_model(
         A JaxSim model built from the provided description.
     """
 
-    is_urdf = None
-
-    # If the provided description is a string, automatically detect if it
-    # contains the content of a URDF or SDF file.
-    if isinstance(model_description, str):
-        if "<robot" in model_description:
-            is_urdf = True
-
-        elif "<sdf>" in model_description:
-            is_urdf = False
-
-        else:
-            is_urdf = None
-
     # Build the JaxSim model.
     model = js.model.JaxSimModel.build_from_model_description(
         model_description=model_description,
-        is_urdf=is_urdf,
     )
 
     return model

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/tests/test_api_contact.py

@@ -85,7 +85,7 @@ def test_contact_jacobian_derivative(
     W_p_Ci = model.kin_dyn_parameters.contact_parameters.point
 
     # Load the model in ROD.
-    rod_model = rod.Sdf.load(sdf=model.built_from, is_urdf=True).model
+    rod_model = rod.Sdf.load(sdf=model.built_from).model
 
     # Add dummy frames on the contact points.
     for idx, (link_name, W_p_C) in enumerate(

{jaxsim-0.4.3.dev97 → jaxsim-0.4.3.dev105}/tests/test_pytree.py

@@ -14,14 +14,12 @@ def test_call_jit_compiled_function_passing_different_objects(
 
     # Create a first model from the URDF.
     model1 = js.model.JaxSimModel.build_from_model_description(
-        model_description=ergocub_model_description_path,
-        is_urdf=True,
+        model_description=ergocub_model_description_path
     )
 
     # Create a second model from the URDF.
     model2 = js.model.JaxSimModel.build_from_model_description(
-        model_description=ergocub_model_description_path,
-        is_urdf=True,
+        model_description=ergocub_model_description_path
     )
 
     # The objects should be different, but the comparison should return True.