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

jaxsim/api/ode_data.py

@@ -1,401 +0,0 @@
-from __future__ import annotations
-
-import dataclasses
-
-import jax
-import jax.numpy as jnp
-import jax_dataclasses
-
-import jaxsim.api as js
-import jaxsim.typing as jtp
-from jaxsim.utils import JaxsimDataclass
-
-# ===================================================================
-# Define the state of the ODE system defining the integrated dynamics
-# ===================================================================
-
-# Note: the ODE system is the combination of the floating-base dynamics and the
-#       soft-contacts dynamics.
-
-
-@jax_dataclasses.pytree_dataclass
-class ODEState(JaxsimDataclass):
-    """
-    The state of the ODE system.
-
-    Attributes:
-        physics_model: The state of the physics model.
-        extended:
-            Additional state variables extending the state vector corresponding to
-            equations of motion. These extended variables are passed to the integrator.
-    """
-
-    physics_model: PhysicsModelState
-
-    extended: dict[str, jtp.PyTree] = dataclasses.field(default_factory=dict)
-
-    @staticmethod
-    def build_from_jaxsim_model(
-        model: js.model.JaxSimModel,
-        joint_positions: jtp.Vector | None = None,
-        joint_velocities: jtp.Vector | None = None,
-        base_position: jtp.Vector | None = None,
-        base_quaternion: jtp.Vector | None = None,
-        base_linear_velocity: jtp.Vector | None = None,
-        base_angular_velocity: jtp.Vector | None = None,
-        **kwargs,
-    ) -> ODEState:
-        """
-        Build an `ODEState` from a `JaxSimModel`.
-
-        Args:
-            model: The `JaxSimModel` associated with the ODE state.
-            joint_positions: The vector of joint positions.
-            joint_velocities: The vector of joint velocities.
-            base_position: The 3D position of the base link.
-            base_quaternion: The quaternion defining the orientation of the base link.
-            base_linear_velocity:
-                The linear velocity of the base link in inertial-fixed representation.
-            base_angular_velocity:
-                The angular velocity of the base link in inertial-fixed representation.
-            kwargs:
-                Additional arguments corresponding variables extending the default
-                state vector of the physics model.
-
-        Note:
-            Kwargs can be used to supply any additional state variables that are passed
-            to the integrator. This is useful to extend the default system dynamics,
-            for example if the contact model requires additional state variables or to
-            simulate additional dynamics like actuators or muscoloskeletal models.
-
-        Returns:
-            The `ODEState` built from the `JaxSimModel`.
-
-        Note:
-            If any of the state components are not provided, they are built from the
-            `JaxSimModel` and initialized to zero.
-        """
-
-        # Initialize the extended state with the optional contact state.
-        extended_state = model.contact_model.zero_state_variables(model=model)
-
-        # Override the default extended state with optional kwargs.
-        extended_state |= kwargs
-
-        return ODEState.build(
-            model=model,
-            physics_model_state=PhysicsModelState.build_from_jaxsim_model(
-                model=model,
-                joint_positions=joint_positions,
-                joint_velocities=joint_velocities,
-                base_position=base_position,
-                base_quaternion=base_quaternion,
-                base_linear_velocity=base_linear_velocity,
-                base_angular_velocity=base_angular_velocity,
-            ),
-            extended_state=extended_state,
-        )
-
-    @staticmethod
-    def build(
-        physics_model_state: PhysicsModelState | None = None,
-        extended_state: dict[str, jtp.PyTree] | None = None,
-        model: js.model.JaxSimModel | None = None,
-    ) -> ODEState:
-        """
-        Build an `ODEState` from a `PhysicsModelState` and a `ContactsState`.
-
-        Args:
-            physics_model_state: The state of the physics model.
-            extended_state: Additional state variables extending the state vector.
-            model: The `JaxSimModel` associated with the ODE state.
-
-        Returns:
-            A `ODEState` instance.
-        """
-
-        # Build a zero state for the physics model if not provided.
-        physics_model_state = (
-            physics_model_state
-            if physics_model_state is not None
-            else PhysicsModelState.zero(model=model)
-        )
-
-        return ODEState(
-            physics_model=physics_model_state,
-            extended=extended_state,
-        )
-
-    @staticmethod
-    def zero(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> ODEState:
-        """
-        Build a zero `ODEState` corresponding to a `JaxSimModel`.
-
-        Args:
-            model: The model to consider.
-            data: The data of the considered model.
-
-        Returns:
-            A zero `ODEState` instance.
-        """
-
-        ode_state = ODEState.build(
-            model=model,
-            extended_state=jax.tree.map(
-                lambda x: jnp.zeros_like(x), data.state.extended
-            ),
-        )
-
-        return ode_state
-
-    def valid(self, model: js.model.JaxSimModel) -> bool:
-        """
-        Check if the `ODEState` is valid for a given `JaxSimModel`.
-
-        Args:
-            model: The model to validate this `ODEState` against.
-
-        Returns:
-            `True` if the ODE state is valid for the given model, `False` otherwise.
-        """
-
-        # TODO: should we validate the extended state?
-        return self.physics_model.valid(model=model)
-
-
-# ==================================================
-# Define the input and state of floating-base robots
-# ==================================================
-
-
-@jax_dataclasses.pytree_dataclass
-class PhysicsModelState(JaxsimDataclass):
-    """
-    Class storing the state of the physics model dynamics.
-
-    Attributes:
-        joint_positions: The vector of joint positions.
-        joint_velocities: The vector of joint velocities.
-        base_position: The 3D position of the base link.
-        base_quaternion: The quaternion defining the orientation of the base link.
-        base_linear_velocity:
-            The linear velocity of the base link in inertial-fixed representation.
-        base_angular_velocity:
-            The angular velocity of the base link in inertial-fixed representation.
-
-    """
-
-    # Joint state
-    joint_positions: jtp.Vector
-    joint_velocities: jtp.Vector
-
-    # Base state
-    base_position: jtp.Vector = jax_dataclasses.field(
-        default_factory=lambda: jnp.zeros(3)
-    )
-    base_quaternion: jtp.Vector = jax_dataclasses.field(
-        default_factory=lambda: jnp.array([1.0, 0, 0, 0])
-    )
-    base_linear_velocity: jtp.Vector = jax_dataclasses.field(
-        default_factory=lambda: jnp.zeros(3)
-    )
-    base_angular_velocity: jtp.Vector = jax_dataclasses.field(
-        default_factory=lambda: jnp.zeros(3)
-    )
-
-    def __hash__(self) -> int:
-
-        from jaxsim.utils.wrappers import HashedNumpyArray
-
-        return hash(
-            (
-                HashedNumpyArray.hash_of_array(self.joint_positions),
-                HashedNumpyArray.hash_of_array(self.joint_velocities),
-                HashedNumpyArray.hash_of_array(self.base_position),
-                HashedNumpyArray.hash_of_array(self.base_quaternion),
-                HashedNumpyArray.hash_of_array(self.base_linear_velocity),
-                HashedNumpyArray.hash_of_array(self.base_angular_velocity),
-            )
-        )
-
-    def __eq__(self, other: PhysicsModelState) -> bool:
-
-        if not isinstance(other, PhysicsModelState):
-            return False
-
-        return hash(self) == hash(other)
-
-    @staticmethod
-    def build_from_jaxsim_model(
-        model: js.model.JaxSimModel | None = None,
-        joint_positions: jtp.Vector | None = None,
-        joint_velocities: jtp.Vector | None = None,
-        base_position: jtp.Vector | None = None,
-        base_quaternion: jtp.Vector | None = None,
-        base_linear_velocity: jtp.Vector | None = None,
-        base_angular_velocity: jtp.Vector | None = None,
-    ) -> PhysicsModelState:
-        """
-        Build a `PhysicsModelState` from a `JaxSimModel`.
-
-        Args:
-            model: The `JaxSimModel` associated with the state.
-            joint_positions: The vector of joint positions.
-            joint_velocities: The vector of joint velocities.
-            base_position: The 3D position of the base link.
-            base_quaternion: The quaternion defining the orientation of the base link.
-            base_linear_velocity:
-                The linear velocity of the base link in inertial-fixed representation.
-            base_angular_velocity:
-                The angular velocity of the base link in inertial-fixed representation.
-
-        Note:
-            If any of the state components are not provided, they are built from the
-            `JaxSimModel` and initialized to zero.
-
-        Returns:
-            A `PhysicsModelState` instance.
-        """
-
-        return PhysicsModelState.build(
-            joint_positions=joint_positions,
-            joint_velocities=joint_velocities,
-            base_position=base_position,
-            base_quaternion=base_quaternion,
-            base_linear_velocity=base_linear_velocity,
-            base_angular_velocity=base_angular_velocity,
-            number_of_dofs=model.dofs(),
-        )
-
-    @staticmethod
-    def build(
-        joint_positions: jtp.Vector | None = None,
-        joint_velocities: jtp.Vector | None = None,
-        base_position: jtp.Vector | None = None,
-        base_quaternion: jtp.Vector | None = None,
-        base_linear_velocity: jtp.Vector | None = None,
-        base_angular_velocity: jtp.Vector | None = None,
-        number_of_dofs: jtp.Int | None = None,
-    ) -> PhysicsModelState:
-        """
-        Build a `PhysicsModelState`.
-
-        Args:
-            joint_positions: The vector of joint positions.
-            joint_velocities: The vector of joint velocities.
-            base_position: The 3D position of the base link.
-            base_quaternion: The quaternion defining the orientation of the base link.
-            base_linear_velocity:
-                The linear velocity of the base link in inertial-fixed representation.
-            base_angular_velocity:
-                The angular velocity of the base link in inertial-fixed representation.
-            number_of_dofs:
-                The number of degrees of freedom of the physics model.
-
-        Returns:
-            A `PhysicsModelState` instance.
-        """
-
-        joint_positions = (
-            joint_positions
-            if joint_positions is not None
-            else jnp.zeros(number_of_dofs)
-        )
-
-        joint_velocities = (
-            joint_velocities
-            if joint_velocities is not None
-            else jnp.zeros(number_of_dofs)
-        )
-
-        base_position = base_position if base_position is not None else jnp.zeros(3)
-
-        base_quaternion = (
-            base_quaternion
-            if base_quaternion is not None
-            else jnp.array([1.0, 0, 0, 0])
-        )
-
-        base_linear_velocity = (
-            base_linear_velocity if base_linear_velocity is not None else jnp.zeros(3)
-        )
-
-        base_angular_velocity = (
-            base_angular_velocity if base_angular_velocity is not None else jnp.zeros(3)
-        )
-
-        physics_model_state = PhysicsModelState(
-            joint_positions=jnp.array(joint_positions, dtype=float),
-            joint_velocities=jnp.array(joint_velocities, dtype=float),
-            base_position=jnp.array(base_position, dtype=float),
-            base_quaternion=jnp.array(base_quaternion, dtype=float),
-            base_linear_velocity=jnp.array(base_linear_velocity, dtype=float),
-            base_angular_velocity=jnp.array(base_angular_velocity, dtype=float),
-        )
-
-        # TODO (diegoferigo): assert state.valid(physics_model)
-        return physics_model_state
-
-    @staticmethod
-    def zero(model: js.model.JaxSimModel) -> PhysicsModelState:
-        """
-        Build a `PhysicsModelState` with all components initialized to zero.
-
-        Args:
-            model: The `JaxSimModel` associated with the state.
-
-        Returns:
-            A `PhysicsModelState` instance.
-        """
-
-        return PhysicsModelState.build_from_jaxsim_model(model=model)
-
-    def valid(self, model: js.model.JaxSimModel) -> bool:
-        """
-        Check if the `PhysicsModelState` is valid for a given `JaxSimModel`.
-
-        Args:
-            model: The `JaxSimModel` to validate the `PhysicsModelState` against.
-
-        Returns:
-            `True` if the `PhysicsModelState` is valid for the given model,
-            `False` otherwise.
-        """
-
-        shape = self.joint_positions.shape
-        expected_shape = (model.dofs(),)
-
-        if shape != expected_shape:
-            return False
-
-        shape = self.joint_velocities.shape
-        expected_shape = (model.dofs(),)
-
-        if shape != expected_shape:
-            return False
-
-        shape = self.base_position.shape
-        expected_shape = (3,)
-
-        if shape != expected_shape:
-            return False
-
-        shape = self.base_quaternion.shape
-        expected_shape = (4,)
-
-        if shape != expected_shape:
-            return False
-
-        shape = self.base_linear_velocity.shape
-        expected_shape = (3,)
-
-        if shape != expected_shape:
-            return False
-
-        shape = self.base_angular_velocity.shape
-        expected_shape = (3,)
-
-        if shape != expected_shape:
-            return False
-
-        return True

jaxsim/integrators/__init__.py

@@ -1,2 +0,0 @@
-from . import fixed_step, variable_step
-from .common import Integrator, SystemDynamics, Time, TimeStep