jaxsim 0.6.1.dev13__py3-none-any.whl → 0.6.2.dev102__py3-none-any.whl

jaxsim/rbda/forward_kinematics.py

@@ -15,6 +15,9 @@ def forward_kinematics_model(
     base_position: jtp.VectorLike,
     base_quaternion: jtp.VectorLike,
     joint_positions: jtp.VectorLike,
+    base_linear_velocity_inertial: jtp.VectorLike,
+    base_angular_velocity_inertial: jtp.VectorLike,
+    joint_velocities: jtp.VectorLike,
 ) -> jtp.Array:
     """
     Compute the forward kinematics.
@@ -24,16 +27,22 @@ def forward_kinematics_model(
         base_position: The position of the base link.
         base_quaternion: The quaternion of the base link.
         joint_positions: The positions of the joints.
+        base_linear_velocity_inertial: The linear velocity of the base link in inertial-fixed representation.
+        base_angular_velocity_inertial: The angular velocity of the base link in inertial-fixed representation.
+        joint_velocities: The velocities of the joints.
 
     Returns:
         A 3D array containing the SE(3) transforms of all links belonging to the model.
     """
 
-    W_p_B, W_Q_B, s, _, _, _, _, _, _, _ = utils.process_inputs(
+    W_p_B, W_Q_B, s, W_v_WB, ṡ, _, _, _, _, _ = utils.process_inputs(
         model=model,
         base_position=base_position,
         base_quaternion=base_quaternion,
         joint_positions=joint_positions,
+        base_linear_velocity=base_linear_velocity_inertial,
+        base_angular_velocity=base_angular_velocity_inertial,
+        joint_velocities=joint_velocities,
     )
 
     # Get the parent array λ(i).
@@ -46,10 +55,10 @@ def forward_kinematics_model(
         translation=W_p_B,
     )
 
-    # Compute the parent-to-child adjoints and the motion subspaces of the joints.
+    # Compute the parent-to-child adjoints of the joints.
     # These transforms define the relative kinematics of the entire model, including
     # the base transform for both floating-base and fixed-base models.
-    i_X_λi, _ = model.kin_dyn_parameters.joint_transforms_and_motion_subspaces(
+    i_X_λi = model.kin_dyn_parameters.joint_transforms(
         joint_positions=s, base_transform=W_H_B.as_matrix()
     )
 
@@ -57,35 +66,51 @@ def forward_kinematics_model(
     W_X_i = jnp.zeros(shape=(model.number_of_links(), 6, 6))
     W_X_i = W_X_i.at[0].set(Adjoint.inverse(i_X_λi[0]))
 
+    # Allocate buffer of 6D inertial-fixed velocities and initialize the base velocity.
+    W_v_Wi = jnp.zeros(shape=(model.number_of_links(), 6))
+    W_v_Wi = W_v_Wi.at[0].set(W_v_WB)
+
+    # Extract the joint motion subspaces.
+    S = model.kin_dyn_parameters.motion_subspaces
+
     # ========================
     # Propagate the kinematics
     # ========================
 
-    PropagateKinematicsCarry = tuple[jtp.Matrix]
-    propagate_kinematics_carry: PropagateKinematicsCarry = (W_X_i,)
+    PropagateKinematicsCarry = tuple[jtp.Matrix, jtp.Matrix]
+    propagate_kinematics_carry: PropagateKinematicsCarry = (W_X_i, W_v_Wi)
 
     def propagate_kinematics(
         carry: PropagateKinematicsCarry, i: jtp.Int
     ) -> tuple[PropagateKinematicsCarry, None]:
 
-        (W_X_i,) = carry
+        ii = i - 1
+        W_X_i, W_v_Wi = carry
+
+        # Compute the parent to child 6D transform.
+        λi_X_i = Adjoint.inverse(adjoint=i_X_λi[i])
+
+        # Compute the world to child 6D transform.
+        W_Xi_i = W_X_i[λ[i]] @ λi_X_i
+        W_X_i = W_X_i.at[i].set(W_Xi_i)
 
-        W_X_i_i = W_X_i[λ[i]] @ Adjoint.inverse(i_X_λi[i])
-        W_X_i = W_X_i.at[i].set(W_X_i_i)
+        # Propagate the 6D velocity.
+        W_vi_Wi = W_v_Wi[λ[i]] + W_X_i[i] @ (S[i] * ṡ[ii]).squeeze()
+        W_v_Wi = W_v_Wi.at[i].set(W_vi_Wi)
 
-        return (W_X_i,), None
+        return (W_X_i, W_v_Wi), None
 
-    (W_X_i,), _ = (
+    (W_X_i, W_v_Wi), _ = (
         jax.lax.scan(
             f=propagate_kinematics,
             init=propagate_kinematics_carry,
             xs=jnp.arange(start=1, stop=model.number_of_links()),
         )
         if model.number_of_links() > 1
-        else [(W_X_i,), None]
+        else [(W_X_i, W_v_Wi), None]
     )
 
-    return jax.vmap(Adjoint.to_transform)(W_X_i)
+    return jax.vmap(Adjoint.to_transform)(W_X_i), W_v_Wi
 
 
 def forward_kinematics(

jaxsim/rbda/jacobian.py

@@ -35,13 +35,16 @@ def jacobian(
     # Note: λ(0) must not be used, it's initialized to -1.
     λ = model.kin_dyn_parameters.parent_array
 
-    # Compute the parent-to-child adjoints and the motion subspaces of the joints.
+    # Compute the parent-to-child adjoints of the joints.
     # These transforms define the relative kinematics of the entire model, including
     # the base transform for both floating-base and fixed-base models.
-    i_X_λi, S = model.kin_dyn_parameters.joint_transforms_and_motion_subspaces(
+    i_X_λi = model.kin_dyn_parameters.joint_transforms(
         joint_positions=s, base_transform=jnp.eye(4)
     )
 
+    # Extract the joint motion subspaces.
+    S = model.kin_dyn_parameters.motion_subspaces
+
     # Allocate the buffer of transforms link -> base.
     i_X_0 = jnp.zeros(shape=(model.number_of_links(), 6, 6))
     i_X_0 = i_X_0.at[0].set(jnp.eye(6))
@@ -152,13 +155,16 @@ def jacobian_full_doubly_left(
     # Note: λ(0) must not be used, it's initialized to -1.
     λ = model.kin_dyn_parameters.parent_array
 
-    # Compute the parent-to-child adjoints and the motion subspaces of the joints.
+    # Compute the parent-to-child adjoints of the joints.
     # These transforms define the relative kinematics of the entire model, including
     # the base transform for both floating-base and fixed-base models.
-    i_X_λi, S = model.kin_dyn_parameters.joint_transforms_and_motion_subspaces(
+    i_X_λi = model.kin_dyn_parameters.joint_transforms(
         joint_positions=s, base_transform=jnp.eye(4)
     )
 
+    # Extract the joint motion subspaces.
+    S = model.kin_dyn_parameters.motion_subspaces
+
     # Allocate the buffer of transforms base -> link.
     B_X_i = jnp.zeros(shape=(model.number_of_links(), 6, 6))
     B_X_i = B_X_i.at[0].set(jnp.eye(6))
@@ -244,13 +250,16 @@ def jacobian_derivative_full_doubly_left(
     # Note: λ(0) must not be used, it's initialized to -1.
     λ = model.kin_dyn_parameters.parent_array
 
-    # Compute the parent-to-child adjoints and the motion subspaces of the joints.
+    # Compute the parent-to-child adjoints of the joints.
     # These transforms define the relative kinematics of the entire model, including
     # the base transform for both floating-base and fixed-base models.
-    i_X_λi, S = model.kin_dyn_parameters.joint_transforms_and_motion_subspaces(
+    i_X_λi = model.kin_dyn_parameters.joint_transforms(
         joint_positions=s, base_transform=jnp.eye(4)
     )
 
+    # Extract the joint motion subspaces.
+    S = model.kin_dyn_parameters.motion_subspaces
+
     # Allocate the buffer of 6D transform base -> link.
     B_X_i = jnp.zeros(shape=(model.number_of_links(), 6, 6))
     B_X_i = B_X_i.at[0].set(jnp.eye(6))

jaxsim/rbda/rnea.py

@@ -4,7 +4,7 @@ import jaxlie
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.math import Adjoint, Cross, StandardGravity
+from jaxsim.math import STANDARD_GRAVITY, Adjoint, Cross
 
 from . import utils
 
@@ -22,7 +22,7 @@ def rnea(
     base_angular_acceleration: jtp.Vector | None = None,
     joint_accelerations: jtp.Vector | None = None,
     link_forces: jtp.Matrix | None = None,
-    standard_gravity: jtp.FloatLike = StandardGravity,
+    standard_gravity: jtp.FloatLike = STANDARD_GRAVITY,
 ) -> tuple[jtp.Vector, jtp.Vector]:
     """
     Compute inverse dynamics using the Recursive Newton-Euler Algorithm (RNEA).
@@ -88,13 +88,16 @@ def rnea(
     W_X_B = W_H_B.adjoint()
     B_X_W = W_H_B.inverse().adjoint()
 
-    # Compute the parent-to-child adjoints and the motion subspaces of the joints.
+    # Compute the parent-to-child adjoints of the joints.
     # These transforms define the relative kinematics of the entire model, including
     # the base transform for both floating-base and fixed-base models.
-    i_X_λi, S = model.kin_dyn_parameters.joint_transforms_and_motion_subspaces(
+    i_X_λi = model.kin_dyn_parameters.joint_transforms(
         joint_positions=s, base_transform=W_H_B.as_matrix()
     )
 
+    # Extract the joint motion subspaces.
+    S = model.kin_dyn_parameters.motion_subspaces
+
     # Allocate buffers.
     v = jnp.zeros(shape=(model.number_of_links(), 6, 1))
     a = jnp.zeros(shape=(model.number_of_links(), 6, 1))

jaxsim/rbda/utils.py

@@ -3,7 +3,7 @@ import jax.numpy as jnp
 import jaxsim.api as js
 import jaxsim.typing as jtp
 from jaxsim import exceptions
-from jaxsim.math import StandardGravity
+from jaxsim.math import STANDARD_GRAVITY
 
 
 def process_inputs(
@@ -96,7 +96,7 @@ def process_inputs(
     standard_gravity = (
         jnp.array(standard_gravity).squeeze()
         if standard_gravity is not None
-        else StandardGravity
+        else STANDARD_GRAVITY
     )
 
     if s.shape != (dofs,):
@@ -144,7 +144,7 @@ def process_inputs(
     W_v̇_WB = jnp.hstack([W_v̇l_WB, W_ω̇_WB])
 
     # Create the 6D gravity acceleration.
-    W_g = jnp.zeros(6).at[2].set(-standard_gravity)
+    W_g = jnp.array([0, 0, standard_gravity, 0, 0, 0])
 
     return (
         W_p_B.astype(float),

jaxsim/utils/jaxsim_dataclass.py

@@ -202,7 +202,11 @@ class JaxsimDataclass(abc.ABC):
         )
 
         if not compatible_structure:
-            raise ValueError("Pytrees have incompatible structures.")
+            raise ValueError(
+                f"Pytrees have incompatible structures.\n"
+                f"Original: {', '.join(map(str, [jax.tree_util.tree_structure(tree) for tree in trees[1:]]))}\n"
+                f"Target: {target_structure}"
+            )
 
         target_shapes = JaxsimDataclass.get_leaf_shapes(trees[0])
 

{jaxsim-0.6.1.dev13.dist-info → jaxsim-0.6.2.dev102.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.6.1.dev13
+Version: 0.6.2.dev102
 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>
@@ -66,7 +66,7 @@ Requires-Dist: jaxlib>=0.4.26
 Requires-Dist: jaxlie>=1.3.0
 Requires-Dist: jax_dataclasses>=1.4.0
 Requires-Dist: pptree
-Requires-Dist: optax>=0.2.3
+Requires-Dist: optax==0.2.3
 Requires-Dist: qpax
 Requires-Dist: rod>=0.3.3
 Requires-Dist: typing_extensions; python_version < "3.12"
@@ -98,9 +98,8 @@ Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
 <br/>
 <table>
   <tr>
-    <th><img src="https://github.com/user-attachments/assets/115b1c1c-6ae5-4c59-92e0-1be13ba954db" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/ae8adadf-3bca-47b8-97ca-3a9273633d60" width="250"></th>
+    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="500"></th>
+    <th><img src="https://github.com/user-attachments/assets/62b88b9d-45ea-4d22-99d2-f24fc842dd29" width="500"></th>
   </tr>
 </table>
 <br/>
@@ -143,15 +142,14 @@ model = js.model.reduce(model=full_model, considered_joints=joints)
 
 ndof = model.dofs()
 # Initialize data and simulation
-data = js.data.JaxSimModelData.zero(model=model).reset_base_position(
-    base_position=jnp.array([0.0, 0.0, 1.0])
-)
+# Note that the default data representation is mixed velocity representation
+data = js.data.JaxSimModelData.build(model=model,base_position=jnp.array([0.0, 0.0, 1.0]))
 T = jnp.arange(start=0, stop=1.0, step=model.time_step)
 tau = jnp.zeros(ndof)
 
 # Simulate
 for t in T:
-    data, _ = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
+    data = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
 
 ```
 

jaxsim-0.6.2.dev102.dist-info/RECORD

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