Code

Introduce new functional APIs#88

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diegoferigo merged 57 commits intoami-iit:mainami-iit/jaxsim:mainfrom diegoferigo:functional_apidiegoferigo/jaxsim:functional_apiCopy head branch name to clipboardMar 1, 2024

+3,885-39

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Commits on Mar 1, 2024

• Initialize new jaxsim.api package

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• Add JaxSimModelData class

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• Add JaxSimModel class

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• Add model.reduce

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• Extend PhysicsModel with new temporary attributes for functional APIs

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• Update PhysicsModel{State|Input} classes with builder methods

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

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• Initialize jaxsim.api.joint module with index-related functions

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• Initialize jaxsim.api.contacts with kinematics of collidable points

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• Update SoftContactsState class with builder methods

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• Add logic to build model-specific SoftContactsParams

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• Add contact.in_contact

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• Add contact.estimate_good_soft_contact_parameters

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• Add link.mass and link.spatial_inertia

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• Add joint.position_limit and joint.position_limits

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• Add joint.random_joint_positions

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• Add data.random_model_data

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• Add link.transform

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• Add link.com_position

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• Add link.jacobian

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• Add model.total_mass

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• Add model.com_position

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• Add model.forward_kinematics

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• Add model.generalized_free_floating_jacobian

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• Add forward dynamics functions (ABA and CRB)

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• Add model.free_floating_mass_matrix function (CRBA)

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• Add model.inverse_dynamics function (RNEA)

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• Add model.free_floating_gravity_forces function

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• Add model.free_floating_bias_forces function

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• Add model.total_momentum function

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• Add functions to compute the potential, kinetic, and mechanical energy

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• Import modules into jaxsim.api package

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• Initialize new jaxsim.integrators package

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• Add integrators.common module with Integrator base class

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• Add ExplicitRungeKutta base class supporting generic pytrees

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• Add ForwardEuler, Heun, and RungeKutta4 fixed-step integrators

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• Add missing includes in api.model

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• Update signature and notation in api.model

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• Add model.step function

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• Update type hints of integrators

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• Fix RK stage for pytrees with multidimensional leaves

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• Allow integrating having different State and StateDerivative classes

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• Allow applying a custom transformation to output states of RK schemes

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

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• Update integrators.__init__.py

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

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• Update ODE{State|Input} classes with builder methods

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• Fix link.transform to use right function

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• Add typing_extensions dependency for Python < 3.12

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• Apply suggestions from code review

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• Add missing key when generating random joint positions

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• Remove weak ref of model stored inside data

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• Add data.time method

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• Add data.reset_* metods

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• Enhance utilities to change the representation of 6D quantities

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• Add missing jax.jit decorators in data module

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• Import Self compatibly with Python 3.10

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