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Add adaptive integrators (variable step) #72

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Add adaptive integrators (variable step) #72

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@diegoferigo diegoferigo commented Jan 31, 2024 •
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📚 Documentation preview 📚: https://jaxsim--72.org.readthedocs.build/72/

@diegoferigo diegoferigo self-assigned this Jan 31, 2024
@diegoferigo diegoferigo force-pushed the feature/variable_step_integrators branch from 5e54dba to ac5f046 Compare February 1, 2024 18:39
@diegoferigo diegoferigo mentioned this pull request Feb 5, 2024
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@flferretti flferretti mentioned this pull request Feb 8, 2024
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@diegoferigo diegoferigo force-pushed the feature/variable_step_integrators branch from ac5f046 to 10cc1d6 Compare February 12, 2024 11:24
@diegoferigo
Initialize new jaxsim.api package
8b88554
@diegoferigo
Add JaxSimModelData class
8e1f563
@diegoferigo
Add JaxSimModel class
76141a1
@diegoferigo
Add model.reduce
d15ea53
@diegoferigo
Extend PhysicsModel with new temporary attributes for functional APIs
98482a9
@diegoferigo
Update PhysicsModel{State|Input} classes with builder methods
7786e9b
@diegoferigo
Initialize jaxsim.api.link module with index-related functions
bf84c4b
@diegoferigo
Initialize jaxsim.api.joint module with index-related functions
f8f2997
@diegoferigo
Initialize jaxsim.api.contacts with kinematics of collidable points
f0e714b
@diegoferigo
Update SoftContactsState class with builder methods
d242c6c
@diegoferigo
Add logic to build model-specific SoftContactsParams
0f96c41
@diegoferigo
Add contact.in_contact
4d58690
@diegoferigo
Add contact.estimate_good_soft_contact_parameters
6f6b8fe
@diegoferigo
Add link.mass and link.spatial_inertia
6b45624
@diegoferigo
Add joint.position_limit and joint.position_limits
ffbcec8
@diegoferigo
Add joint.random_joint_positions
c43de3b
@diegoferigo
Add data.random_model_data
e421d2d
@diegoferigo
Add link.transform
4d50de2
@diegoferigo
Add link.com_position
c0cff27
@diegoferigo
Add link.jacobian
62fa3f5
@diegoferigo
Add model.total_mass
de4f408
@diegoferigo
Add model.com_position
41b3e4c
@diegoferigo
Add model.forward_kinematics
6c87277
@diegoferigo
Add model.generalized_free_floating_jacobian
d9bb3a2
@diegoferigo
Add forward dynamics functions (ABA and CRB)
c2651e5
@diegoferigo
Add model.free_floating_mass_matrix function (CRBA)
108d052
@diegoferigo
Add model.inverse_dynamics function (RNEA)
07a7cb5
@diegoferigo
Add model.free_floating_gravity_forces function
6dca308
@diegoferigo
Add model.free_floating_bias_forces function
77ebe13
@diegoferigo
Add model.total_momentum function
5ec285d
@diegoferigo
Add functions to compute the potential, kinetic, and mechanical energy
c44ae41
@diegoferigo
Import modules into jaxsim.api package
9fdf572
@diegoferigo
Initialize new jaxsim.integrators package
c580c02
@diegoferigo
Add integrators.common module with Integrator base class
b969655
@diegoferigo
Add ExplicitRungeKutta base class supporting generic pytrees
694670e
@diegoferigo
Add ForwardEuler, Heun, and RungeKutta4 fixed-step integrators
2e45d2a
@diegoferigo
Add missing includes in api.model
f20a8b5
@diegoferigo
Update signature and notation in api.model
6080cf2
@diegoferigo
Add model.step function
0055a1a
@diegoferigo
Update type hints of integrators
4dc6b49
@diegoferigo
Fix RK stage for pytrees with multidimensional leaves
88fa1c8
@diegoferigo
Allow integrating having different State and StateDerivative classes
4277521
@diegoferigo
Allow applying a custom transformation to output states of RK schemes
98eaaf5
@diegoferigo
Add fixed-step integrators working on ODEState integrating over SO(3)
ca97eb0
@diegoferigo
Update integrators.__init__.py
5779e95
@diegoferigo
Add api.ode module with the system dynamics to be integrated
a0ddde7
@diegoferigo
Update ODE{State|Input} classes with builder methods
340794f
@diegoferigo
Fix link.transform to use right function
6f57f5d
@diegoferigo
Add typing_extensions dependency for Python < 3.12
bd8b164
@diegoferigo
[wip] Add integrators with adaptive timestep
3a0b56b
@diegoferigo diegoferigo force-pushed the feature/variable_step_integrators branch from 10cc1d6 to 3a0b56b Compare February 23, 2024 14:15
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Superseded by #115 that targets the new functional APIs.

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@flferretti flferretti Awaiting requested review from flferretti flferretti will be requested when the pull request is marked ready for review flferretti is a code owner

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