jaxsim 0.7.1.dev28__tar.gz → 0.7.1.dev34__tar.gz

{jaxsim-0.7.1.dev28 → jaxsim-0.7.1.dev34}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.7.1.dev28
+Version: 0.7.1.dev34
 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.dev28 → jaxsim-0.7.1.dev34}/examples/jaxsim_as_physics_engine_advanced.ipynb

@@ -213,7 +213,7 @@
     "key = jax.random.PRNGKey(seed=0)\n",
     "\n",
     "# Split subkeys for sampling random initial data.\n",
-    "batch_size = 16\n",
+    "batch_size = 9\n",
     "row_length = int(jnp.sqrt(batch_size))\n",
     "row_dist = 0.3 * row_length\n",
     "key, *subkeys = jax.random.split(key=key, num=batch_size + 1)\n",

{jaxsim-0.7.1.dev28 → jaxsim-0.7.1.dev34}/src/jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.7.1.dev28'
-__version_tuple__ = version_tuple = (0, 7, 1, 'dev28')
+__version__ = version = '0.7.1.dev34'
+__version_tuple__ = version_tuple = (0, 7, 1, 'dev34')

{jaxsim-0.7.1.dev28 → jaxsim-0.7.1.dev34}/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.dev28 → jaxsim-0.7.1.dev34}/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.dev28 → jaxsim-0.7.1.dev34}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.7.1.dev28
+Version: 0.7.1.dev34
 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>