Merge pull request #38 from ami-iit/feature/no_experimental

ABA and RNEA with `jax.lax.scan`, Python 3.11, fixed bugs in other representations

.github/workflows/ci_cd.yml

@@ -61,7 +61,7 @@ jobs:
           - "3.8"
           - "3.9"
           - "3.10"
-          # - "3.11"
+          - "3.11"
 
     steps:
 
@@ -76,13 +76,41 @@ jobs:
           path: dist
           name: dist
 
-      - name: Install wheel
+      # Workaround: install iDynTree for Python 3.11
+      - name: iDynTree on Python 3.11
+        if: contains(matrix.os, 'ubuntu') && matrix.python == '3.11'
         shell: bash
-        run: pip install dist/*.whl
+        run: pip install --pre idyntree
+
+      - name: Install wheel (ubuntu)
+        if: contains(matrix.os, 'ubuntu')
+        shell: bash
+        run: pip install "$(find dist/ -type f -name '*.whl')[all]"
+
+      - name: Install wheel (macos)
+        if: contains(matrix.os, 'macos')
+        shell: bash
+        run: pip install "$(find dist/ -type f -name '*.whl')"
 
       - name: Import the package
         run: python -c "import jaxsim"
 
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Install Gazebo Classic
+        if: contains(matrix.os, 'ubuntu') && (matrix.python == '3.10' || matrix.python == '3.11')
+        run: |
+          sudo apt-get update
+          sudo apt-get install gazebo
+
+      - name: Run the Python tests
+        if: contains(matrix.os, 'ubuntu') && (matrix.python == '3.10' || matrix.python == '3.11')
+        run: pytest
+        env:
+          JAX_PLATFORM_NAME: cpu
+
   publish:
     name: Publish to PyPI
     needs: test

setup.cfg

@@ -6,7 +6,7 @@ long_description_content_type = text/markdown
 author = Diego Ferigo
 author_email = diego.ferigo@iit.it
 license = BSD
-license_file = LICENSE
+license_files = LICENSE
 platforms = any
 url = https://github.com/ami-iit/jaxsim
 
@@ -55,12 +55,10 @@ package_dir =
 python_requires = >=3.8
 install_requires =
     coloredlogs
-    distrax
-    flax
-    jax >=0.3.14, <0.3.16
-    jaxlib == 0.3.15
+    jax >= 0.4.1
+    jaxlib
     jaxlie
-    jax_dataclasses >= 1.2.2, < 1.4.0
+    jax_dataclasses >= 1.4.0
     pptree
     rod
     scipy
@@ -73,8 +71,10 @@ style =
     black
     isort
 testing =
+    idyntree
     pytest
     pytest-icdiff
+    robot-descriptions
 all =
     %(style)s
     %(testing)s

src/jaxsim/high_level/joint.py

@@ -1,9 +1,10 @@
-from typing import Tuple
+import dataclasses
+from typing import Any, Tuple
 
 import jax_dataclasses
+from jax_dataclasses import Static
 
-import jaxsim.high_level
-import jaxsim.parsers.descriptions as descriptions
+import jaxsim.parsers
 import jaxsim.typing as jtp
 from jaxsim.utils import JaxsimDataclass
 
@@ -14,10 +15,13 @@ class Joint(JaxsimDataclass):
     High-level class to operate on a single joint of a simulated model.
     """
 
-    joint_description: descriptions.JointDescription = jax_dataclasses.static_field()
-    parent_model: "jaxsim.high_level.model.Model" = jax_dataclasses.field(
-        default=None, repr=False, compare=False
-    )
+    joint_description: Static[jaxsim.parsers.descriptions.JointDescription]
+
+    _parent_model: Any = dataclasses.field(default=None, repr=False, compare=False)
+
+    @property
+    def parent_model(self) -> "jaxsim.high_level.model.Model":
+        return self._parent_model
 
     def valid(self) -> bool:
         return self.parent_model is not None

src/jaxsim/high_level/link.py

@@ -1,9 +1,12 @@
+import dataclasses
+from typing import Any
+
 import jax.numpy as jnp
 import jax_dataclasses
 import numpy as np
+from jax_dataclasses import Static
 
-import jaxsim.high_level
-import jaxsim.parsers.descriptions as descriptions
+import jaxsim.parsers
 import jaxsim.sixd as sixd
 import jaxsim.typing as jtp
 from jaxsim.physics.algos.jacobian import jacobian
@@ -18,10 +21,13 @@ class Link(JaxsimDataclass):
     High-level class to operate on a single link of a simulated model.
     """
 
-    link_description: descriptions.LinkDescription = jax_dataclasses.static_field()
-    parent_model: "jaxsim.high_level.model.Model" = jax_dataclasses.field(
-        default=None, repr=False, compare=False
-    )
+    link_description: Static[jaxsim.parsers.descriptions.LinkDescription]
+
+    _parent_model: Any = dataclasses.field(default=None, repr=False, compare=False)
+
+    @property
+    def parent_model(self) -> "jaxsim.high_level.model.Model":
+        return self._parent_model
 
     def valid(self) -> bool:
         return self.parent_model is not None
@@ -143,22 +149,22 @@ def jacobian(self, output_vel_repr: VelRepr = None) -> jtp.Matrix:
             raise ValueError(output_vel_repr)
 
     def external_force(self) -> jtp.Vector:
-        W_f_ext = self.parent_model.data.model_input.f_ext[self.index()]
+        """
+        Return the active external force acting on the link.
 
-        if self.parent_model.velocity_representation is VelRepr.Inertial:
-            return W_f_ext
+        This external force is a user input and is not computed by the physics engine.
+        During the simulation, this external force is summed to other terms like those
+        related to enforce contact constraints.
 
-        elif self.parent_model.velocity_representation is VelRepr.Body:
-            W_H_B = self.parent_model.base_transform()
-            W_X_B = sixd.se3.SE3.from_matrix(W_H_B).adjoint()
+        Returns:
+            The active external 6D force acting on the link in the active representation.
+        """
 
-            return W_X_B.transpose() @ W_f_ext
-
-        elif self.parent_model.velocity_representation is VelRepr.Mixed:
-            raise NotImplementedError
+        W_f_ext = self.parent_model.data.model_input.f_ext[self.index()]
 
-        else:
-            raise ValueError(self.parent_model.velocity_representation)
+        return self.parent_model.inertial_to_active_representation(
+            array=W_f_ext, is_force=True
+        )
 
     def add_external_force(
         self, force: jtp.Array = None, torque: jtp.Array = None