jaxsim 0.5.1.dev24__py3-none-any.whl → 0.5.1.dev37__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev24'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev24')
+__version__ = version = '0.5.1.dev37'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev37')

jaxsim/api/contact.py

@@ -374,13 +374,7 @@ def estimate_good_contact_parameters(
                 max_penetration=max_δ,
                 number_of_active_collidable_points_steady_state=nc,
                 damping_ratio=damping_ratio,
-                **(
-                    dict(
-                        p=model.contact_model.parameters.p,
-                        q=model.contact_model.parameters.q,
-                    )
-                    | kwargs
-                ),
+                **kwargs,
             )
 
         case contacts.ViscoElasticContacts():
@@ -394,13 +388,7 @@ def estimate_good_contact_parameters(
                     max_penetration=max_δ,
                     number_of_active_collidable_points_steady_state=nc,
                     damping_ratio=damping_ratio,
-                    **(
-                        dict(
-                            p=model.contact_model.parameters.p,
-                            q=model.contact_model.parameters.q,
-                        )
-                        | kwargs
-                    ),
+                    **kwargs,
                 )
             )
 

jaxsim/api/data.py

@@ -230,7 +230,7 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
                 )
 
             else:
-                contacts_params = model.contact_model.parameters
+                contacts_params = model.contact_model._parameters_class()
 
         return JaxSimModelData(
             state=ode_state,
@@ -775,6 +775,7 @@ def random_model_data(
         jtp.FloatLike | Sequence[jtp.FloatLike],
         jtp.FloatLike | Sequence[jtp.FloatLike],
     ] = (-1.0, 1.0),
+    contacts_params: jaxsim.rbda.contacts.ContactsParams | None = None,
     standard_gravity_bounds: tuple[jtp.FloatLike, jtp.FloatLike] = (
         jaxsim.math.StandardGravity,
         jaxsim.math.StandardGravity,
@@ -797,6 +798,7 @@ def random_model_data(
         base_vel_lin_bounds: The bounds for the base linear velocity.
         base_vel_ang_bounds: The bounds for the base angular velocity.
         joint_vel_bounds: The bounds for the joint velocities.
+        contacts_params: The parameters of the contact model.
         standard_gravity_bounds: The bounds for the standard gravity.
 
     Returns:
@@ -886,4 +888,25 @@ def random_model_data(
             )
         )
 
+        if contacts_params is None:
+
+            if isinstance(
+                model.contact_model,
+                jaxsim.rbda.contacts.SoftContacts
+                | jaxsim.rbda.contacts.ViscoElasticContacts,
+            ):
+
+                random_data = random_data.replace(
+                    contacts_params=js.contact.estimate_good_contact_parameters(
+                        model=model, standard_gravity=random_data.gravity
+                    ),
+                    validate=False,
+                )
+
+            else:
+                random_data = random_data.replace(
+                    contacts_params=model.contact_model._parameters_class(),
+                    validate=False,
+                )
+
     return random_data

jaxsim/api/model.py

@@ -41,8 +41,7 @@ class JaxSimModel(JaxsimDataclass):
     )
 
     # Note that this is the default contact model.
-    # Its parameters, if any, are then overridden from those stored in JaxSimModelData.
-    contact_model: jaxsim.rbda.contacts.ContactModel | None = dataclasses.field(
+    contact_model: Static[jaxsim.rbda.contacts.ContactModel | None] = dataclasses.field(
         default=None, repr=False
     )
 
@@ -235,9 +234,7 @@ class JaxSimModel(JaxsimDataclass):
         contact_model = (
             contact_model
             if contact_model is not None
-            else jaxsim.rbda.contacts.SoftContacts.build(
-                terrain=terrain, parameters=None
-            )
+            else jaxsim.rbda.contacts.SoftContacts.build()
         )
 
         # Build the integrator if not provided.

jaxsim/rbda/contacts/common.py

@@ -95,30 +95,17 @@ class ContactsParams(JaxsimDataclass):
 class ContactModel(JaxsimDataclass):
     """
     Abstract class representing a contact model.
-
-    Attributes:
-        parameters: The parameters of the contact model.
-        terrain: The considered terrain.
     """
 
-    parameters: ContactsParams
-    terrain: jaxsim.terrain.Terrain
-
     @classmethod
     @abc.abstractmethod
     def build(
         cls: type[Self],
-        parameters: ContactsParams,
-        terrain: jaxsim.terrain.Terrain,
         **kwargs,
     ) -> Self:
         """
         Create a `ContactModel` instance with specified parameters.
 
-        Args:
-            parameters: The parameters of the contact model.
-            terrain: The considered terrain.
-
         Returns:
             The `ContactModel` instance.
         """
@@ -304,30 +291,21 @@ class ContactModel(JaxsimDataclass):
 
         return {}
 
-    def initialize_model_and_data(
-        self,
-        model: js.model.JaxSimModel,
-        data: js.data.JaxSimModelData,
-        validate: bool = True,
-    ) -> tuple[js.model.JaxSimModel, js.data.JaxSimModelData]:
+    @property
+    def _parameters_class(cls) -> type[ContactsParams]:
         """
-        Helper function to initialize the active model and data objects.
-
-        Args:
-            model: The robot model considered by the contact model.
-            data: The data of the considered robot model.
-            validate:
-                Whether to validate if the model and data objects have been
-                initialized with the current contact model.
+        Return the class of the contact parameters.
 
         Returns:
-            The initialized model and data objects.
+            The class of the contact parameters.
         """
-
-        with self.editable(validate=validate) as contact_model:
-            contact_model.parameters = data.contacts_params
-
-        with model.editable(validate=validate) as model_out:
-            model_out.contact_model = contact_model
-
-        return model_out, data
+        import importlib
+
+        return getattr(
+            importlib.import_module("jaxsim.rbda.contacts"),
+            (
+                cls.__name__ + "Params"
+                if isinstance(cls, type)
+                else cls.__class__.__name__ + "Params"
+            ),
+        )

jaxsim/rbda/contacts/relaxed_rigid.py

@@ -12,9 +12,7 @@ import optax
 import jaxsim.api as js
 import jaxsim.rbda.contacts
 import jaxsim.typing as jtp
-from jaxsim import logging
 from jaxsim.api.common import ModelDataWithVelocityRepresentation, VelRepr
-from jaxsim.terrain.terrain import FlatTerrain, Terrain
 
 from . import common
 
@@ -180,14 +178,6 @@ class RelaxedRigidContactsParams(common.ContactsParams):
 class RelaxedRigidContacts(common.ContactModel):
     """Relaxed rigid contacts model."""
 
-    parameters: RelaxedRigidContactsParams = dataclasses.field(
-        default_factory=RelaxedRigidContactsParams.build
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain.build
-    )
-
     _solver_options_keys: jax_dataclasses.Static[tuple[str, ...]] = dataclasses.field(
         default=("tol", "maxiter", "memory_size"), kw_only=True
     )
@@ -209,8 +199,6 @@ class RelaxedRigidContacts(common.ContactModel):
     @classmethod
     def build(
         cls: type[Self],
-        parameters: RelaxedRigidContactsParams | None = None,
-        terrain: Terrain | None = None,
         solver_options: dict[str, Any] | None = None,
         **kwargs,
     ) -> Self:
@@ -218,17 +206,12 @@ class RelaxedRigidContacts(common.ContactModel):
         Create a `RelaxedRigidContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the rigid contacts model.
-            terrain: The considered terrain.
             solver_options: The options to pass to the L-BFGS solver.
 
         Returns:
             The `RelaxedRigidContacts` instance.
         """
 
-        if len(kwargs) != 0:
-            logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
-
         # Get the default solver options.
         default_solver_options = dict(
             zip(cls._solver_options_keys, cls._solver_options_values, strict=True)
@@ -250,18 +233,9 @@ class RelaxedRigidContacts(common.ContactModel):
             ) from exc
 
         return cls(
-            parameters=(
-                parameters
-                if parameters is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            ),
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
             _solver_options_keys=tuple(solver_options.keys()),
             _solver_options_values=tuple(solver_options.values()),
+            **kwargs,
         )
 
     @jax.jit
@@ -289,12 +263,6 @@ class RelaxedRigidContacts(common.ContactModel):
             A tuple containing as first element the computed contact forces.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-        assert isinstance(data.contacts_params, RelaxedRigidContactsParams)
-
         link_forces = jnp.atleast_2d(
             jnp.array(link_forces, dtype=float).squeeze()
             if link_forces is not None

jaxsim/rbda/contacts/rigid.py

@@ -11,7 +11,6 @@ import jaxsim.api as js
 import jaxsim.typing as jtp
 from jaxsim import logging
 from jaxsim.api.common import ModelDataWithVelocityRepresentation, VelRepr
-from jaxsim.terrain import FlatTerrain, Terrain
 
 from . import common
 from .common import ContactModel, ContactsParams
@@ -92,14 +91,6 @@ class RigidContactsParams(ContactsParams):
 class RigidContacts(ContactModel):
     """Rigid contacts model."""
 
-    parameters: RigidContactsParams = dataclasses.field(
-        default_factory=RigidContactsParams
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain.build
-    )
-
     regularization_delassus: jax_dataclasses.Static[float] = dataclasses.field(
         default=1e-6, kw_only=True
     )
@@ -125,8 +116,6 @@ class RigidContacts(ContactModel):
     @classmethod
     def build(
         cls: type[Self],
-        parameters: RigidContactsParams | None = None,
-        terrain: Terrain | None = None,
         regularization_delassus: jtp.FloatLike | None = None,
         solver_options: dict[str, Any] | None = None,
         **kwargs,
@@ -135,8 +124,6 @@ class RigidContacts(ContactModel):
         Create a `RigidContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the rigid contacts model.
-            terrain: The considered terrain.
             regularization_delassus:
                 The regularization term to add to the diagonal of the Delassus matrix.
             solver_options: The options to pass to the QP solver.
@@ -169,16 +156,6 @@ class RigidContacts(ContactModel):
             ) from exc
 
         return cls(
-            parameters=(
-                parameters
-                if parameters is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            ),
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
             regularization_delassus=float(
                 regularization_delassus
                 if regularization_delassus is not None
@@ -186,6 +163,7 @@ class RigidContacts(ContactModel):
             ),
             _solver_options_keys=tuple(solver_options.keys()),
             _solver_options_values=tuple(solver_options.values()),
+            **kwargs,
         )
 
     @staticmethod
@@ -276,12 +254,6 @@ class RigidContacts(ContactModel):
             A tuple containing as first element the computed contact forces.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-        assert isinstance(data.contacts_params, RigidContactsParams)
-
         # Import qpax privately just in this method.
         import qpax
 

jaxsim/rbda/contacts/soft.py

@@ -12,7 +12,7 @@ import jaxsim.math
 import jaxsim.typing as jtp
 from jaxsim import logging
 from jaxsim.math import StandardGravity
-from jaxsim.terrain import FlatTerrain, Terrain
+from jaxsim.terrain import Terrain
 
 from . import common
 
@@ -194,19 +194,9 @@ class SoftContactsParams(common.ContactsParams):
 class SoftContacts(common.ContactModel):
     """Soft contacts model."""
 
-    parameters: SoftContactsParams = dataclasses.field(
-        default_factory=SoftContactsParams.build
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain.build
-    )
-
     @classmethod
     def build(
         cls: type[Self],
-        parameters: SoftContactsParams | None = None,
-        terrain: Terrain | None = None,
         model: js.model.JaxSimModel | None = None,
         **kwargs,
     ) -> Self:
@@ -214,8 +204,6 @@ class SoftContacts(common.ContactModel):
         Create a `SoftContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the soft contacts model.
-            terrain: The considered terrain.
             model:
                 The robot model considered by the contact model.
                 If passed, it is used to estimate good default parameters.
@@ -227,24 +215,7 @@ class SoftContacts(common.ContactModel):
         if len(kwargs) != 0:
             logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
 
-        # Build the contact parameters if not provided. Use the model to estimate
-        # good default parameters, if passed. Users can later override these default
-        # parameters with their own values -- possibly tuned better.
-        if parameters is None:
-            parameters = (
-                SoftContactsParams.build_default_from_jaxsim_model(model=model)
-                if model is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            )
-
-        return cls(
-            parameters=parameters,
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
-        )
+        return cls(**kwargs)
 
     @classmethod
     def zero_state_variables(cls, model: js.model.JaxSimModel) -> dict[str, jtp.Array]:
@@ -422,9 +393,9 @@ class SoftContacts(common.ContactModel):
 
         return W_f, ṁ
 
+    @staticmethod
     @jax.jit
     def compute_contact_forces(
-        self,
         model: js.model.JaxSimModel,
         data: js.data.JaxSimModelData,
     ) -> tuple[jtp.Matrix, dict[str, jtp.PyTree]]:
@@ -440,11 +411,6 @@ class SoftContacts(common.ContactModel):
             second element a dictionary with derivative of the material deformation.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-
         # Get the indices of the enabled collidable points.
         indices_of_enabled_collidable_points = (
             model.kin_dyn_parameters.contact_parameters.indices_of_enabled_collidable_points

jaxsim/rbda/contacts/visco_elastic.py

@@ -15,7 +15,7 @@ import jaxsim.typing as jtp
 from jaxsim import logging
 from jaxsim.api.common import ModelDataWithVelocityRepresentation
 from jaxsim.math import StandardGravity
-from jaxsim.terrain import FlatTerrain, Terrain
+from jaxsim.terrain import Terrain
 
 from . import common
 from .soft import SoftContacts, SoftContactsParams
@@ -188,21 +188,11 @@ class ViscoElasticContactsParams(common.ContactsParams):
 class ViscoElasticContacts(common.ContactModel):
     """Visco-elastic contacts model."""
 
-    parameters: ViscoElasticContactsParams = dataclasses.field(
-        default_factory=ViscoElasticContactsParams
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain
-    )
-
     max_squarings: jax_dataclasses.Static[int] = dataclasses.field(default=25)
 
     @classmethod
     def build(
         cls: type[Self],
-        parameters: SoftContactsParams | None = None,
-        terrain: Terrain | None = None,
         model: js.model.JaxSimModel | None = None,
         max_squarings: jtp.IntLike | None = None,
         **kwargs,
@@ -211,8 +201,6 @@ class ViscoElasticContacts(common.ContactModel):
         Create a `ViscoElasticContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the soft contacts model.
-            terrain: The considered terrain.
             model:
                 The robot model considered by the contact model.
                 If passed, it is used to estimate good default parameters.
@@ -226,23 +214,7 @@ class ViscoElasticContacts(common.ContactModel):
         if len(kwargs) != 0:
             logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
 
-        # Build the contact parameters if not provided. Use the model to estimate
-        # good default parameters, if passed. Users can later override these default
-        # parameters with their own values -- possibly tuned better.
-        if parameters is None:
-            parameters = (
-                ViscoElasticContactsParams.build_default_from_jaxsim_model(model=model)
-                if model is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            )
-
         return cls(
-            parameters=parameters,
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
             max_squarings=int(
                 max_squarings
                 if max_squarings is not None
@@ -301,12 +273,6 @@ class ViscoElasticContacts(common.ContactModel):
             a dictionary of optional additional information.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-        assert isinstance(data.contacts_params, ViscoElasticContactsParams)
-
         # Extract the indices corresponding to the enabled collidable points.
         indices_of_enabled_collidable_points = (
             model.kin_dyn_parameters.contact_parameters.indices_of_enabled_collidable_points

{jaxsim-0.5.1.dev24.dist-info → jaxsim-0.5.1.dev37.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev24
+Version: 0.5.1.dev37
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
 Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>

{jaxsim-0.5.1.dev24.dist-info → jaxsim-0.5.1.dev37.dist-info}/RECORD

@@ -1,18 +1,18 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=jhM7ciLRfFJltcA0X7C5Adn5pIbSqnbwaSMWu6yJUos,426
+jaxsim/_version.py,sha256=EGsUJS1ov-QK7EYvUCYPDPaWF0WWN1ORv-XJb2wLAyI,426
 jaxsim/exceptions.py,sha256=vSoScaRD4nvh6jltgK9Ry5pKnE0O5hb4_yI_pk_fvR8,2175
 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=nSH-89veHu6yzdlMPJN7HU-mY_lyc3bAw7KiP790Qx4,25658
-jaxsim/api/data.py,sha256=ThRpoBlbdwf1N3xs8SWrY5d8RbfdYRwFcmkdIPgtee4,29004
+jaxsim/api/contact.py,sha256=P62D4MpgcEJScmxuhh99YcoW4QLU6hVjG_lvlLL-mxg,25214
+jaxsim/api/data.py,sha256=pGgQ8k_QJ0kh7igMmQGfccix3wOXKcSfsLnZQyOQHjo,29860
 jaxsim/api/frame.py,sha256=MT6Qpg5uJDnhik899QNpHskZMijgjMSOw-2v-t-kul4,14434
 jaxsim/api/joint.py,sha256=8rCIxRMeAidsaBbw7kkGp6z3-UmBPtqmYmV_arHDQJ8,7365
 jaxsim/api/kin_dyn_parameters.py,sha256=wnto0nzzEJ_M8tH2PUdldEyxQwQdsStYUoQFu696uuw,29897
 jaxsim/api/link.py,sha256=nHjffhNdi_xGkteMsqdb_hC9mdV9rNw7k3pl89Uhw_8,12798
-jaxsim/api/model.py,sha256=pNO-m7ZbHFvuGftu-ngvj05z8Fo0WOT69dU71fl_hA8,79801
+jaxsim/api/model.py,sha256=0Ve1zEVoe5mFw4kX5sG6eCg0PXRnOZl1f-wsmFpAxeM,79659
 jaxsim/api/ode.py,sha256=_t18avoCJngQk6eMFTGpaeahbpchQP20qJnUOCPkz8s,15360
 jaxsim/api/ode_data.py,sha256=1SD-x-lYk_YSEnVpxTLd69uOKC0mFUj44ZqpSmEDOxw,20190
 jaxsim/api/references.py,sha256=eIOk3MAOc9LJSKfI8M4WA8gGD-meo50vRfhXdea4sNI,20539
@@ -55,19 +55,19 @@ jaxsim/rbda/jacobian.py,sha256=L6Vn4Kf9I6wj-MYcFY6o67mgIfLFaaW4i2wNQJ2PDL0,10981
 jaxsim/rbda/rnea.py,sha256=CLfqs9XFVaD-hvkLABshDAfdw5bm_AMV3UVAQ_IvURQ,7542
 jaxsim/rbda/utils.py,sha256=GLt7XIl1ROkx0_fnBCKUHYdB9_IBF3Yi4OnkHSX3gxA,5365
 jaxsim/rbda/contacts/__init__.py,sha256=L5MM-2pv76YPGzxExdz2EErgGBATuAjYnNHlq5QOySs,503
-jaxsim/rbda/contacts/common.py,sha256=mjOS1MJkf9zRfcAKBwmYtO5Vrcrv-kLFM57FfFB8LgM,11244
-jaxsim/rbda/contacts/relaxed_rigid.py,sha256=FYdW0JRZT_NjEhhoLEsJs7qNV7NiXVPWG01ZkUTpUrc,21678
-jaxsim/rbda/contacts/rigid.py,sha256=MSzkU6SFbW6CryNlyyxQ7K0-U-8k6VROGKv_DQrwqiw,17156
-jaxsim/rbda/contacts/soft.py,sha256=t6bqBfGAtV1AWoevY82LAcXy2XW8w_uu7bNywcyxF0s,17001
-jaxsim/rbda/contacts/visco_elastic.py,sha256=vQkfMuqQ3Qu8nbDTPY4jWBZjV3U7qtoRK1Aya3O3oFA,41424
+jaxsim/rbda/contacts/common.py,sha256=BjwZMCkzd1ZOdZW7_Zt09Cl5j2JUHXM5Q8ao_qS6e64,10406
+jaxsim/rbda/contacts/relaxed_rigid.py,sha256=PgwKfProN5sLXJsSov3nIidHHMVpJqIp7eIv6_bPGjs,20345
+jaxsim/rbda/contacts/rigid.py,sha256=X-PE6PmZqlKoZTY6JhYBSW-vom-rq2uBKmBUNQeQHCg,15991
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