jaxsim 0.6.2.dev235__tar.gz → 0.6.2.dev240__tar.gz

{jaxsim-0.6.2.dev235 → jaxsim-0.6.2.dev240}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev235
+Version: 0.6.2.dev240
 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-0.6.2.dev240/pixi.lock

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:527236666dd1ad835cb4947e1b6f3da979e41d44de5b11295c8d1178d725fadb
+size 490653

{jaxsim-0.6.2.dev235 → jaxsim-0.6.2.dev240}/src/jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev235'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev235')
+__version__ = version = '0.6.2.dev240'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev240')

{jaxsim-0.6.2.dev235 → jaxsim-0.6.2.dev240}/src/jaxsim/rbda/contacts/relaxed_rigid.py

@@ -477,8 +477,7 @@ class RelaxedRigidContacts(common.ContactModel):
         tol = solver_options.pop("tol")
         maxiter = solver_options.pop("maxiter")
 
-        # Compute the 3D linear force in C[W] frame.
-        solution, _ = run_optimization(
+        solve_fn = lambda *_: run_optimization(
             init_params=init_params,
             fun=objective,
             opt=optax.lbfgs(**solver_options),
@@ -486,6 +485,15 @@ class RelaxedRigidContacts(common.ContactModel):
             maxiter=maxiter,
         )
 
+        # Compute the 3D linear force in C[W] frame.
+        solution, _ = jax.lax.custom_linear_solve(
+            lambda x: A @ x,
+            -b,
+            solve=solve_fn,
+            symmetric=True,
+            has_aux=True,
+        )
+
         # Reshape the optimized solution to be a matrix of 3D contact forces.
         CW_fl_C = solution.reshape(-1, 3)
 

{jaxsim-0.6.2.dev235 → jaxsim-0.6.2.dev240}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev235
+Version: 0.6.2.dev240
 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-0.6.2.dev235 → jaxsim-0.6.2.dev240}/tests/test_automatic_differentiation.py

@@ -3,8 +3,6 @@ import os
 import jax
 import jax.numpy as jnp
 import numpy as np
-import optax
-import pytest
 from jax.test_util import check_grads
 
 import jaxsim.api as js
@@ -350,11 +348,6 @@ def test_ad_integration(
 
     model = jaxsim_models_types
 
-    # TODO: Remove when https://github.com/google-deepmind/optax/pull/1190 is included in a release.
-    # Skip if `optax` version is less or equal to "0.2.4" and the model is ergoCub.
-    if model.name() == "ergoCub" and optax.__version__ <= "0.2.4":
-        pytest.skip("Skipping ergoCub model with optax version <= 0.2.4.")
-
     _, subkey = jax.random.split(prng_key, num=2)
     data, references = get_random_data_and_references(
         model=model, velocity_representation=VelRepr.Inertial, key=subkey
@@ -416,13 +409,11 @@ def test_ad_integration(
         return xf_W_p_B, xf_W_Q_B, xf_s, xf_W_v_WB, xf_ṡ
 
     # Check derivatives against finite differences.
-    # We set forward mode only because the backward mode is not supported by the
-    # current implementation of `optax` optimizers in the relaxed rigid contact model.
     check_grads(
         f=step,
         args=(W_p_B, W_Q_B, s, W_v_WB, ṡ, τ, W_f_L),
         order=AD_ORDER,
-        modes=["fwd"],
+        modes=["fwd", "rev"],
         eps=ε,
     )
 

jaxsim-0.6.2.dev235/pixi.lock

@@ -1,3 +0,0 @@
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-size 508183