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Finalize the functional APIs and replace the OOP classes #108

Merged
merged 172 commits into from
Mar 29, 2024
Merged

Finalize the functional APIs and replace the OOP classes #108

merged 172 commits into from
Mar 29, 2024

Commits on Mar 12, 2024

  1. Remove existing tests of OOP APIs

    @diegoferigo
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  2. Add a pytest fixture to generate a PRNG key

    @diegoferigo
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  3. Add fixture to parameterize tests over all velocity representations

    @diegoferigo
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  4. Add session-wide fixtures to provide tested models

    @diegoferigo
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  5. Add collections of tested models

    @diegoferigo
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  6. Add tests of jaxsim.api.data module

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  7. Add test of jaxsim.api.joint module

    @diegoferigo
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  8. Add test of jaxsim.api.link module

    @diegoferigo
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  9. Add test of jaxsim.api.model module

    @diegoferigo
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  10. Add methods to wrapper utils_idyntree.KinDynComputations

    @diegoferigo
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  11. Add other iDynTree testing helpers

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  12. Add test to check automatic differentiation of algorithms

    @diegoferigo
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  13. Fix random generation of JaxSimModelData for fixed-base models

    @diegoferigo
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  14. Fix random generation of JaxSimModelData for jointless models

    @diegoferigo
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  15. Fix api.joint.name_to_idx

    @diegoferigo
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  16. Fix ABA in Mixed representation for fixed-base models

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  17. Fix ABA when inputs are passed 

    The low-level RBDA need the inputs to be in inertial-fixed representation. We use JaxSimModelReferences to automatically convert them.
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  18. Fix computation of bias forces for fixed-base models

    @diegoferigo
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  19. Rename Heun integrator to Heun2

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  20. Fix ForwardEuler integrator

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  21. Fix shape correction of the Butcher tableau b parameter

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  22. Fix non-jit execution of RBDAs for models with no joints

    @diegoferigo
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  23. Fix collidable_points_pos_vel for models with no collidable points

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  24. Remove pytest-forked

    @diegoferigo
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  25. Require updated version of the rod dependency

    @diegoferigo
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  26. Fix joint.position_limit for jointless models

    @diegoferigo
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  27. Fix cast of gc.body in api.ode

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  28. Do not raise in simulation.utils.check_valid_shape

    @diegoferigo
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  29. Increase tolerance in test of reduced CoM position

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  30. Update api.__init__.py

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  31. Add again support for latest jax and jaxlib

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  32. Install Gazebo Sim instead of Gazebo Classic in CI

    @diegoferigo
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  33. Add test of jit compiling functions taking JaxSimModel as input

    @diegoferigo
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  34. Use ordered split keys in random data generation

    @diegoferigo
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  35. Do not alter during runtime Butcher tableau coefficients

    @diegoferigo
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  36. Merge pull request #106 from ami-iit/functional_tests 

    Add new test suite of functional APIs
    @diegoferigo
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Commits on Mar 14, 2024

  1. Add KinDynParameters class

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  2. Add JointModel class

    @diegoferigo
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  3. Update JaxSimModel to store KinDynParameters

    @diegoferigo
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  4. Uniform imports of jaxsim.api package

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  5. Import KinDynParameters into jaxsim.api package

    @diegoferigo
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  6. Update api.joint to use KinDynParameters instead of PhysicsModel

    @diegoferigo
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  7. Update api.link to use KinDynParameters instead of PhysicsModel

    @diegoferigo
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  8. Add missing docstrings

    @diegoferigo
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  9. Update dataclass properties of JaxSimModel attributes

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  10. Build KinDynParameters from parsed ModelDescription

    @diegoferigo
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  11. Add HashlessObject class

    @diegoferigo
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  12. Store ModelDescription directly inside JaxSimModel

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  13. Update GroundContact class

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  14. Store ContactParameters inside KinDynParameters

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  15. Propagate axes change of GroundContact

    @diegoferigo
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  16. Define DoFs of base link

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  17. Update api.ode to use KinDynParameters instead of PhysicsModel

    @diegoferigo
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  18. Apply suggestions from code review 

    Co-authored-by: Filippo Luca Ferretti <[email protected]>
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  19. Merge pull request #101 from ami-iit/feature/kin_dyn_parameters 

    Initial support of parametric hardware models
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  20. Update soft_contacts to use KinDynParameters instead of PhysicsModel

    @diegoferigo
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  21. Prepare transition to jaxsim.api from jaxsim.{high_level|physics}

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  22. Update PhysicsModel{Input|State}, ODE{Input|State}, SoftContactsState 

    They accept now JaxSimModel instead of the old low-level PhysicsModel
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  23. Use new builder methods of ODEState and ODEInput

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  24. Introduce and propagate StandardGravity

    @diegoferigo
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  25. Disable some exception while tracing

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Commits on Mar 18, 2024

  1. Move rigid-body dynamics algorithms to jaxsim.rbda package

    @diegoferigo
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  2. Move terrain definitions to jaxsim.terrain package

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  3. Move data structures to jaxsim.api.ode_data

    @diegoferigo
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  4. Update AD test

    @diegoferigo
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  5. Import math resources in parent package

    @diegoferigo
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  6. Update rbda.utils.process_inputs to new APIs

    @diegoferigo
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  7. Add model.link_spatial_inertia_matrices

    @diegoferigo
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  8. Compute tree transforms considering also the base pose

    @diegoferigo
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  9. Update ABA formulation to new APIs

    @diegoferigo
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  10. Normalize quaternion in JaxSimModelData.base_orientation

    @diegoferigo
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  11. Fix AD test with normalized quaternions

    @diegoferigo
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  12. Normalize quaternion before computing its derivative

    @diegoferigo
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  13. Update CRBA formulation to new APIs

    @diegoferigo
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  14. Update FK to new APIs

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  15. Update RNEA to new APIs

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  16. Update Jacobian to new APIs

    @diegoferigo
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  17. Update test_ad_integration

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  18. Normalize quaternion also in RK stages of SO(3) integrators

    @diegoferigo
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  19. Update SoftContacts to new APIs

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  20. Minor updates of soft contacts algorithm

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  21. Remove deprecated PhysicsModel from JaxSimModel 

    All the functionalities should be now redirected to the new KinDynParameters
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  22. Remove unused methods from PhysicsModelState

    @diegoferigo
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  23. Update import in api.references

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  24. Move GroundContact to kin_dyn_parameters.ContactParams

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  25. Transpose the tangential deformation to have the points as first axis

    @diegoferigo
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  26. Move StandardGravity to jaxsim.math

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Commits on Mar 19, 2024

  1. Merge pull request #112 from ami-iit/transition_to_functional 

    Migrate `jaxsim.api` package away from `PhysicsModel`
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Commits on Mar 21, 2024

  1. Make mutability check in JaxsimDataclass.mutable_context stricter

    @diegoferigo
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  2. Update typing of context managers

    @diegoferigo
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  3. Do not automatically copy replaced fields 

    The user is responsible of using copy when needed
    @diegoferigo
    diegoferigo committed Mar 21, 2024
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  4. Add explicit flatten_fn and unflatten_fn

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  5. Minor enhancement in editable method

    @diegoferigo
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  6. Update mutability handling 

    This change should also optimize memory usage by preventing unnecessary copies.
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  7. Add docstrings

    @diegoferigo
    diegoferigo committed Mar 21, 2024
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  8. Add JaxsimDataclass.check_compatibility helper

    @diegoferigo
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  9. JaxsimDataclass.replace returns a shallow copy of the original object

    @diegoferigo
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Commits on Mar 22, 2024

  1. Merge pull request #116 from ami-iit/improve_jaxsim_dataclass 

    Improve utilities provided by `JaxsimDataclass`
    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  2. Add base class of embedded Runge-Kutta schemes

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  3. Add HeunEulerSO3 and BogackiShampineSO3 variable-step integrators

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  4. Fix conversion to nanoseconds in ode closure

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  5. Fix Butcher tableau of Heun integrator

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  6. Introduce different stages to initialize integrators

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  7. Add Quaternion.integration to integrate quaternions on SO(3)

    @diegoferigo
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  8. Integrate quaternions in SO(3) also in RK stages

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  9. Move ExplicitRungeKuttaSO3Mixin to integrators.common

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  10. Merge pull request #115 from ami-iit/variable_step_integrators 

    Add variable-step integrators (adaptive time step)
    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  11. Update imports

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  12. Fix check in data

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  13. Move functions related to CoM to new jaxsim.api.com module

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  14. Add new test for api.com module

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  15. Add new methods to iDynTree wrapper

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  16. Add api.link.velocity

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  17. Add api.link.velocity test

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  18. Update api.link with minor changes and docstrings

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  19. Update api.model with minor changes

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  20. Add model.total_momentum_jacobian

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  21. Add model.locked_spatial_inertia

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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  22. Add com.locked_centroidal_spatial_inertia

    @diegoferigo
    diegoferigo committed Mar 22, 2024
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Commits on Mar 26, 2024

  1. Add com.centroidal_momentum_jacobian

    @diegoferigo
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  2. Add com.centroidal_momentum

    @diegoferigo
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  3. Add com.average_centroidal_velocity_jacobian

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  4. Add com.average_centroidal_velocity

    @diegoferigo
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  5. Add com.com_linear_velocity

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  6. Add model.average_velocity_jacobian

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  7. Add model.average_velocity

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  8. Test new api.model functions

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  9. Test new api.com functions

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  10. Add math.transform module

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  11. Add Adjoint.from_transform method

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  12. Add contact.collidable_point_dynamics

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  13. Add contact.collidable_point_forces

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  14. Add model.link_contact_forces

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  15. Update ode.system_velocity_dynamics to use new contact function

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  16. Merge pull request #117 from ami-iit/extend_functional_apis 

    Extend functional APIs
    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  17. Add support for randomizing standard_gravity in random_model_data

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  18. Update JaxsimDataclass.replace method to use dataclasses.replace

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  19. Fix wrap_system_dynamics_for_integration 

    Now it's possible to override the original model and data passed during the creation of the wrapped function. This is necessary for re-using an existing integrator on models and/or data with updated parameters.
    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  20. Fix api.contact.in_contact 

    The length of `links_in_contact` was always equal to number of links in the model
    @flferretti
    flferretti committed Mar 26, 2024
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  21. Cast RBDA inputs to float

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  22. Make SoftContactsParams inherit fro JaxsimDataclass

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  23. Add integrator_kwargs argument to api.model.step

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  24. Allow reducing a model and remove all joints

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  25. Address review 

    Co-authored-by: Diego Ferigo <[email protected]>
    @flferretti @diegoferigo
    flferretti and diegoferigo committed Mar 26, 2024
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  26. Add new jacobian_full_doubly_left RBDA

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  27. Merge pull request #119 from ami-iit/flferretti-patch-1 

    Fix `api.contact.in_contact`
    @flferretti
    flferretti committed Mar 26, 2024
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  28. Update model.generalized_free_floating_jacobian to use the doubly-left

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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  29. Update link.jacobian to use the new doubly-left jacobian

    @diegoferigo
    diegoferigo committed Mar 26, 2024
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Commits on Mar 27, 2024

  1. Merge pull request #121 from ami-iit/optimize_jacobian_algo 

    Optimize Jacobian algorithm
    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  2. Update docstrings of JointModel

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  3. Fix error in KynDynParameters.set_link_inertia

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  4. Add JointParameters.index

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  5. Add LinkParameters.index

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  6. Create a dummy JointParameters for joint-less models

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  7. Move creation of contact parameters

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  8. Propagate missing base transform argument

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  9. Minor changes with docstring and comments updates

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  10. Update hash computation

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  11. Merge pull request #120 from ami-iit/enhance_parametric_models 

    Enhance parametric hardware models
    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  12. Remove jaxsim.simulation package

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  13. Remove jaxsim.physics package

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  14. remove jaxsim.high_level package

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  15. Remove unused modules from jaxsim.math package

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  16. Remove unused modules from jaxsim.utils

    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  17. Merge pull request #123 from ami-iit/remove_oop_and_unused_code 

    Remove old OOP classes
    @diegoferigo
    diegoferigo committed Mar 27, 2024
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  18. Avoid unhashable args in contact.in_contact

    @flferretti
    flferretti committed Mar 27, 2024
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  19. Allow importing Self from typing_extensions

    @flferretti
    flferretti committed Mar 27, 2024
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Commits on Mar 28, 2024

  1. Rename external_forces to link_forces

    @diegoferigo
    diegoferigo committed Mar 28, 2024
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  2. Remove unused jaxsim.math.joint

    @diegoferigo
    diegoferigo committed Mar 28, 2024
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  3. Unify ε definition used to compute finite differences in AD test

    @diegoferigo
    diegoferigo committed Mar 28, 2024
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  4. Use default tolerance in integration AD test with SO(3) integrators

    @diegoferigo
    diegoferigo committed Mar 28, 2024
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  5. Test AD of soft contacts model also including its parameters

    @diegoferigo
    diegoferigo committed Mar 28, 2024
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