jaxsim 0.5.1.dev75__tar.gz → 0.5.1.dev80__tar.gz

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev75
+Version: 0.5.1.dev80
 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.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev75'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev75')
+__version__ = version = '0.5.1.dev80'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev80')

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim/api/model.py

@@ -477,6 +477,7 @@ def reduce(
         time_step=model.time_step,
         terrain=model.terrain,
         contact_model=model.contact_model,
+        integrator=model.integrator,
     )
 
     # Store the origin of the model, in case downstream logic needs it.
@@ -491,8 +492,8 @@ def reduce(
 # ===================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def total_mass(model: JaxSimModel) -> jtp.Float:
     """
     Compute the total mass of the model.
@@ -507,8 +508,8 @@ def total_mass(model: JaxSimModel) -> jtp.Float:
     return model.kin_dyn_parameters.link_parameters.mass.sum().astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array:
     """
     Compute the spatial 6D inertia matrices of all links of the model.
@@ -530,8 +531,8 @@ def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array:
 # ==============================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_kinematics(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
     """
     Compute the SE(3) transforms from the world frame to the frames of all links.
@@ -918,8 +919,8 @@ def forward_dynamics(
     )
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_dynamics_aba(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1063,8 +1064,8 @@ def forward_dynamics_aba(
     return C_v̇_WB.astype(float), s̈.astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_dynamics_crb(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1155,8 +1156,8 @@ def forward_dynamics_crb(
     return v̇_WB, s̈
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_mass_matrix(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1201,8 +1202,8 @@ def free_floating_mass_matrix(
             raise ValueError(data.velocity_representation)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_coriolis_matrix(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1318,8 +1319,8 @@ def free_floating_coriolis_matrix(
             raise ValueError(data.velocity_representation)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def inverse_dynamics(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1474,8 +1475,8 @@ def inverse_dynamics(
     return f_B.astype(float), τ.astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_gravity_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -1524,8 +1525,8 @@ def free_floating_gravity_forces(
     ).astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_bias_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -1594,8 +1595,8 @@ def free_floating_bias_forces(
 # ==========================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def locked_spatial_inertia(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1613,8 +1614,8 @@ def locked_spatial_inertia(
     return total_momentum_jacobian(model=model, data=data)[:, 0:6]
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def total_momentum(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
     """
     Compute the total momentum of the model.
@@ -1702,8 +1703,8 @@ def total_momentum_jacobian(
             raise ValueError(output_vel_repr)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_velocity(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
     """
     Compute the average velocity of the model.
@@ -1791,8 +1792,8 @@ def average_velocity_jacobian(
 # ========================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_bias_accelerations(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -2001,8 +2002,8 @@ def link_bias_accelerations(
     return O_v̇_WL
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_contact_forces(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -2077,8 +2078,8 @@ def link_contact_forces(
 # ======
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the mechanical energy of the model.
@@ -2097,8 +2098,8 @@ def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.
     return (K + U).astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the kinetic energy of the model.
@@ -2119,8 +2120,8 @@ def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Flo
     return K.squeeze().astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the potential energy of the model.
@@ -2146,8 +2147,8 @@ def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.F
 # ==========
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def step(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev75
+Version: 0.5.1.dev80
 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.dev75 → jaxsim-0.5.1.dev80}/tests/test_api_model.py

@@ -98,6 +98,15 @@ def test_model_creation_and_reduction(
     # Check that the reduced model maintains the same terrain of the full model.
     assert model_full.terrain == model_reduced.terrain
 
+    # Check that the reduced model maintains the same contact model of the full model.
+    assert model_full.contact_model == model_reduced.contact_model
+
+    # Check that the reduced model maintains the same integration step of the full model.
+    assert model_full.time_step == model_reduced.time_step
+
+    # Check that the reduced model maintains the same integrator of the full model.
+    assert model_full.integrator == model_reduced.integrator
+
     # Build the data of the reduced model.
     data_reduced = js.data.JaxSimModelData.build(
         model=model_reduced,

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim/api/com.py

@@ -8,8 +8,8 @@ import jaxsim.typing as jtp
 from .common import VelRepr
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def com_position(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -45,8 +45,8 @@ def com_position(
     return (W_H_B @ B_p̃_CoM)[0:3].astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def com_linear_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -76,8 +76,8 @@ def com_linear_velocity(
     return G_vl_WG
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def centroidal_momentum(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -104,8 +104,8 @@ def centroidal_momentum(
     return G_J @ ν
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def centroidal_momentum_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -153,8 +153,8 @@ def centroidal_momentum_jacobian(
     return G_Xf_B @ B_Jh
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def locked_centroidal_spatial_inertia(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ):
@@ -191,8 +191,8 @@ def locked_centroidal_spatial_inertia(
     return G_Xf_B @ B_Mbb_B @ B_Xv_G
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_centroidal_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -219,8 +219,8 @@ def average_centroidal_velocity(
     return G_J @ ν
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_centroidal_velocity_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -246,8 +246,8 @@ def average_centroidal_velocity_jacobian(
     return jnp.linalg.inv(G_Mbb) @ G_J
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def bias_acceleration(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim/api/contact.py

@@ -16,8 +16,8 @@ from jaxsim.rbda import contacts
 from .common import VelRepr
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_kinematics(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> tuple[jtp.Matrix, jtp.Matrix]:
@@ -53,8 +53,8 @@ def collidable_point_kinematics(
     return W_p_Ci, W_ṗ_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_positions(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -74,8 +74,8 @@ def collidable_point_positions(
     return W_p_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_velocities(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -95,8 +95,8 @@ def collidable_point_velocities(
     return W_ṗ_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_forces(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -133,8 +133,8 @@ def collidable_point_forces(
     return f_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -232,8 +232,8 @@ def collidable_point_dynamics(
     return f_Ci, aux_data
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["link_names"])
+@js.common.named_scope
 def in_contact(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -430,8 +430,8 @@ def estimate_good_contact_parameters(
     return parameters
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
     r"""
     Return the pose of the enabled collidable points.
@@ -476,8 +476,8 @@ def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jt
     return jax.vmap(lambda W_H_Li, L_H_Ci: W_H_Li @ L_H_Ci)(W_H_L, L_H_C)
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -569,8 +569,8 @@ def jacobian(
     return O_J_WC
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian_derivative(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim/api/frame.py

@@ -16,8 +16,8 @@ from .common import VelRepr
 # =======================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def idx_of_parent_link(
     model: js.model.JaxSimModel, *, frame_index: jtp.IntLike
 ) -> jtp.Int:
@@ -46,8 +46,8 @@ def idx_of_parent_link(
     ]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="frame_name")
+@js.common.named_scope
 def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.Int:
     """
     Convert the name of a frame to its index.
@@ -99,8 +99,8 @@ def idx_to_name(model: js.model.JaxSimModel, *, frame_index: jtp.IntLike) -> str
     ]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["frame_names"])
+@js.common.named_scope
 def names_to_idxs(
     model: js.model.JaxSimModel, *, frame_names: Sequence[str]
 ) -> jax.Array:
@@ -142,8 +142,8 @@ def idxs_to_names(
 # ==========
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def transform(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -184,8 +184,8 @@ def transform(
     return W_H_L @ L_H_F
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def velocity(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -235,8 +235,8 @@ def velocity(
     return O_J_WF_I @ I_ν
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -315,8 +315,8 @@ def jacobian(
     return O_J_WL_I
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian_derivative(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim/api/joint.py

@@ -13,8 +13,8 @@ from jaxsim import exceptions
 # =======================
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_name")
+@js.common.named_scope
 def name_to_idx(model: js.model.JaxSimModel, *, joint_name: str) -> jtp.Int:
     """
     Convert the name of a joint to its index.
@@ -62,8 +62,8 @@ def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike) -> str
     return model.kin_dyn_parameters.joint_model.joint_names[joint_index + 1]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_names")
+@js.common.named_scope
 def names_to_idxs(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str]
 ) -> jax.Array:
@@ -143,8 +143,8 @@ def position_limit(
     return s_min.astype(float), s_max.astype(float)
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
+@js.common.named_scope
 def position_limits(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str] | None = None
 ) -> tuple[jtp.Vector, jtp.Vector]:
@@ -179,8 +179,8 @@ def position_limits(
 # ======================
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
+@js.common.named_scope
 def random_joint_positions(
     model: js.model.JaxSimModel,
     *,

{jaxsim-0.5.1.dev75 → jaxsim-0.5.1.dev80}/src/jaxsim/api/ode.py

@@ -85,8 +85,8 @@ def wrap_system_dynamics_for_integration(
 # ==================================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_velocity_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -332,8 +332,8 @@ def system_acceleration(
     return v̇_WB, s̈
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_position_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -372,8 +372,8 @@ def system_position_dynamics(
     return W_ṗ_B, W_Q̇_B, ṡ
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,