jaxsim 0.7.1.dev18__tar.gz → 0.7.1.dev32__tar.gz

{jaxsim-0.7.1.dev18 → jaxsim-0.7.1.dev32}/.github/workflows/gpu_benchmark.yml

@@ -16,29 +16,28 @@ jobs:
   benchmark:
     runs-on: self-hosted
     container:
-      image: ghcr.io/nvidia/jax@sha256:fdc493f32727405514caaecd9f0ea508a56cf645424cc66e03fedd8141c493bb
-      options: --rm --gpus all --ipc=host --ulimit memlock=-1 --ulimit stack=67108864
+      image: ghcr.io/prefix-dev/pixi:0.46.0-noble@sha256:c12bcbe8ba5dfd71867495d3471b95a6993b79cc7de7eafec016f8f59e4e4961
+      options: --rm --gpus all --ipc=host --ulimit memlock=-1 --ulimit stack=67108864 -e "TERM=xterm-256color"
 
     steps:
+      - name: Install Git and Git-LFS
+        run: |
+            apt update && apt install -y git git-lfs
+
       - name: Checkout repository
         uses: actions/checkout@v4
+        with:
+          lfs: true
+          fetch-depth: 0
 
-      - name: Set up environment
-        run: |
-          pip install .[all]
-
-      - name: Install Gazebo SDF
+      - name: Fetch pixi.lock from LFS
         run: |
-            apt update && apt install -y lsb-release wget
-            sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-            wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-            apt-get update
-            apt install -y libsdformat14-dev libsdformat14
+          git config --global safe.directory /__w/jaxsim/jaxsim
+          git lfs checkout pixi.lock
 
       - name: Get main branch SHA
         id: get-main-branch-sha
         run: |
-          git config --global --add safe.directory /__w/jaxsim/jaxsim
           SHA=$(git rev-parse origin/main)
           echo "sha=$SHA" >> $GITHUB_OUTPUT
 
@@ -49,9 +48,15 @@ jobs:
           path: ./cache
           key: ${{ steps.get-main-branch-sha.outputs.sha }}-${{ runner.os }}-benchmark
 
+      - name: Ensure version file is written
+        run: |
+            pixi run --frozen --environment gpu python -m setuptools_scm --force-write-version-file
+
       - name: Run benchmark and store result
         run: |
-            pytest tests/test_benchmark.py --gpu-only --batch-size 128 --benchmark-only --benchmark-json output.json
+            pixi run --frozen --environment gpu benchmark --batch-size 128 --benchmark-json output.json
+        env:
+            PY_COLORS: "1"
 
       - name: Compare benchmark results with main branch
         uses: benchmark-action/github-action-benchmark@v1.20.4

{jaxsim-0.7.1.dev18 → jaxsim-0.7.1.dev32}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.7.1.dev18
+Version: 0.7.1.dev32
 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-0.7.1.dev32/pixi.lock

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd22e2f700d17caf1b56d5896009d715c3412de25b7fd9361197dba51061a38a
+size 493834

{jaxsim-0.7.1.dev18 → jaxsim-0.7.1.dev32}/pyproject.toml

@@ -262,6 +262,7 @@ pytest = "*"
 pytest-benchmark = "*"
 pytest-icdiff = "*"
 robot_descriptions = ">=1.16.0"
+setuptools_scm = ">=8.3.1,<9"
 
 # ----------------
 # feature.examples

{jaxsim-0.7.1.dev18 → jaxsim-0.7.1.dev32}/src/jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.7.1.dev18'
-__version_tuple__ = version_tuple = (0, 7, 1, 'dev18')
+__version__ = version = '0.7.1.dev32'
+__version_tuple__ = version_tuple = (0, 7, 1, 'dev32')

{jaxsim-0.7.1.dev18 → jaxsim-0.7.1.dev32}/src/jaxsim/api/kin_dyn_parameters.py

@@ -910,9 +910,9 @@ class HwLinkMetadata(JaxsimDataclass):
 
     Attributes:
         shape: The shape of the link.
-            0 = box, 1 = sphere, 2 = cylinder, -1 = unsupported.
+            0 = box, 1 = cylinder, 2 = sphere, -1 = unsupported.
         dims: The dimensions of the link.
-            box: [lx,ly,lz], sphere: [r,0,0], cylinder: [r,l,0]
+            box: [lx,ly,lz], cylinder: [r,l,0], sphere: [r,0,0].
         density: The density of the link.
         L_H_G: The homogeneous transformation matrix from the link frame to the CoM frame G.
         L_H_vis: The homogeneous transformation matrix from the link frame to the visual frame.
@@ -1026,7 +1026,13 @@ class HwLinkMetadata(JaxsimDataclass):
             shape,
             branches=[
                 # Box
-                lambda: scaling_factors,
+                lambda: jnp.array(
+                    [
+                        scaling_factors[0],
+                        scaling_factors[1],
+                        scaling_factors[2],
+                    ]
+                ),
                 # Cylinder
                 lambda: jnp.array(
                     [

{jaxsim-0.7.1.dev18 → jaxsim-0.7.1.dev32}/src/jaxsim/api/model.py

@@ -387,7 +387,7 @@ class JaxSimModel(JaxsimDataclass):
         L_H_Gs = []
         L_H_vises = []
         L_H_pre_masks = []
-        L_H_pres = []
+        L_H_pre = []
 
         # Process each link
         for link_description in ordered_links:
@@ -454,17 +454,17 @@ class JaxSimModel(JaxsimDataclass):
             L_H_pre_masks.append(
                 [
                     int(joint_index in child_joints_indices)
-                    for joint_index in range(self.number_of_joints())
+                    for joint_index in range(0, self.number_of_joints())
                 ]
             )
-            L_H_pres.append(
+            L_H_pre.append(
                 [
                     (
                         self.kin_dyn_parameters.joint_model.λ_H_pre[joint_index + 1]
                         if joint_index in child_joints_indices
                         else jnp.eye(4)
                     )
-                    for joint_index in range(self.number_of_joints())
+                    for joint_index in range(0, self.number_of_joints())
                 ]
             )
 
@@ -476,7 +476,7 @@ class JaxSimModel(JaxsimDataclass):
             L_H_G=jnp.array(L_H_Gs, dtype=float),
             L_H_vis=jnp.array(L_H_vises, dtype=float),
             L_H_pre_mask=jnp.array(L_H_pre_masks, dtype=bool),
-            L_H_pre=jnp.array(L_H_pres, dtype=float),
+            L_H_pre=jnp.array(L_H_pre, dtype=float),
         )
 
     def export_updated_model(self) -> str:
@@ -777,10 +777,17 @@ def reduce(
         integrator=model.integrator,
     )
 
-    # Store the origin of the model, in case downstream logic needs it.
     with reduced_model.mutable_context(mutability=Mutability.MUTABLE_NO_VALIDATION):
+        # Store the origin of the model, in case downstream logic needs it.
         reduced_model.built_from = model.built_from
 
+        # Compute the hw parametrization metadata of the reduced model
+        # TODO: move the building of the metadata to KinDynParameters.build()
+        #       and use the model_description instead of model.built_from.
+        reduced_model.kin_dyn_parameters.hw_link_metadata = (
+            reduced_model.compute_hw_link_metadata()
+        )
+
     return reduced_model
 
 
@@ -2373,15 +2380,22 @@ def update_hw_parameters(
         return jax.lax.cond(
             jnp.any(L_H_pre_mask_for_joint),
             lambda: selected_transform,
-            lambda: kin_dyn_params.joint_model.λ_H_pre[joint_index],
+            lambda: kin_dyn_params.joint_model.λ_H_pre[joint_index + 1],
         )
 
     # Apply the update function to all joint indices
     updated_λ_H_pre = jax.vmap(update_λ_H_pre)(
-        jnp.arange(kin_dyn_params.number_of_joints() + 1)
+        jnp.arange(kin_dyn_params.number_of_joints())
+    )
+    # NOTE: λ_H_pre should be of len (1+n_joints) with the 0-th element equal
+    # to identity to represent the world-to-base tree transform. See JointModel class
+    updated_λ_H_pre_with_base = jnp.concatenate(
+        (jnp.eye(4).reshape(1, 4, 4), updated_λ_H_pre), axis=0
     )
     # Replace the joint model with the updated transforms
-    updated_joint_model = kin_dyn_params.joint_model.replace(λ_H_pre=updated_λ_H_pre)
+    updated_joint_model = kin_dyn_params.joint_model.replace(
+        λ_H_pre=updated_λ_H_pre_with_base
+    )
 
     # Replace the kin_dyn_parameters with updated values
     updated_kin_dyn_params = kin_dyn_params.replace(

{jaxsim-0.7.1.dev18 → jaxsim-0.7.1.dev32}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.7.1.dev18
+Version: 0.7.1.dev32
 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-0.7.1.dev18/pixi.lock

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6f90d0084533761c9d9eca88087a5ab53994efee72ecaa2e3efcd91790633d95
-size 493137