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Introduce new functional APIs #88

Merged
merged 57 commits into from
Mar 1, 2024
Merged

Introduce new functional APIs #88

merged 57 commits into from
Mar 1, 2024

Commits on Mar 1, 2024

  1. Initialize new jaxsim.api package

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    diegoferigo committed Mar 1, 2024
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  2. Add JaxSimModelData class

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  3. Add JaxSimModel class

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    diegoferigo committed Mar 1, 2024
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  4. Add model.reduce

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  5. Extend PhysicsModel with new temporary attributes for functional APIs

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  6. Update PhysicsModel{State|Input} classes with builder methods

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  7. Initialize jaxsim.api.link module with index-related functions

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    diegoferigo committed Mar 1, 2024
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  8. Initialize jaxsim.api.joint module with index-related functions

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    diegoferigo committed Mar 1, 2024
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  9. Initialize jaxsim.api.contacts with kinematics of collidable points

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  10. Update SoftContactsState class with builder methods

    @diegoferigo
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  11. Add logic to build model-specific SoftContactsParams

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    diegoferigo committed Mar 1, 2024
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  12. Add contact.in_contact

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    diegoferigo committed Mar 1, 2024
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  13. Add contact.estimate_good_soft_contact_parameters

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  14. Add link.mass and link.spatial_inertia

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  15. Add joint.position_limit and joint.position_limits

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  16. Add joint.random_joint_positions

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  17. Add data.random_model_data

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  18. Add link.transform

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  19. Add link.com_position

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  20. Add link.jacobian

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  21. Add model.total_mass

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  22. Add model.com_position

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  23. Add model.forward_kinematics

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  24. Add model.generalized_free_floating_jacobian

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  25. Add forward dynamics functions (ABA and CRB)

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  26. Add model.free_floating_mass_matrix function (CRBA)

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  27. Add model.inverse_dynamics function (RNEA)

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  28. Add model.free_floating_gravity_forces function

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  29. Add model.free_floating_bias_forces function

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  30. Add model.total_momentum function

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  31. Add functions to compute the potential, kinetic, and mechanical energy

    @diegoferigo
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  32. Import modules into jaxsim.api package

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    diegoferigo committed Mar 1, 2024
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  33. Initialize new jaxsim.integrators package

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  34. Add integrators.common module with Integrator base class

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  35. Add ExplicitRungeKutta base class supporting generic pytrees

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  36. Add ForwardEuler, Heun, and RungeKutta4 fixed-step integrators

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  37. Add missing includes in api.model

    @diegoferigo
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  38. Update signature and notation in api.model

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    diegoferigo committed Mar 1, 2024
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  39. Add model.step function

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    diegoferigo committed Mar 1, 2024
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  40. Update type hints of integrators

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  41. Fix RK stage for pytrees with multidimensional leaves

    @diegoferigo
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  42. Allow integrating having different State and StateDerivative classes

    @diegoferigo
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  43. Allow applying a custom transformation to output states of RK schemes

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  44. Add fixed-step integrators working on ODEState integrating over SO(3)

    @diegoferigo
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  45. Update integrators.__init__.py

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  46. Add api.ode module with the system dynamics to be integrated

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  47. Update ODE{State|Input} classes with builder methods

    @diegoferigo
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  48. Fix link.transform to use right function

    @diegoferigo
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  49. Add typing_extensions dependency for Python < 3.12

    @diegoferigo
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  50. Apply suggestions from code review 

    Co-authored-by: Filippo Luca Ferretti <[email protected]>
    @diegoferigo @flferretti
    diegoferigo and flferretti committed Mar 1, 2024
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  51. Add missing key when generating random joint positions 

    Co-authored-by: Filippo Luca Ferretti <[email protected]>
    @diegoferigo @flferretti
    diegoferigo and flferretti committed Mar 1, 2024
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  52. Remove weak ref of model stored inside data

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  53. Add data.time method

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    diegoferigo committed Mar 1, 2024
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  54. Add data.reset_* metods

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    diegoferigo committed Mar 1, 2024
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  55. Enhance utilities to change the representation of 6D quantities

    @diegoferigo
    diegoferigo committed Mar 1, 2024
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  56. Add missing jax.jit decorators in data module

    @diegoferigo
    diegoferigo committed Mar 1, 2024
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  57. Import Self compatibly with Python 3.10

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    diegoferigo committed Mar 1, 2024
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