Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Apply new OOP pattern compatible with jax transformations #48

Merged
merged 27 commits into from
Oct 9, 2023
Merged

Apply new OOP pattern compatible with jax transformations #48

merged 27 commits into from
Oct 9, 2023

Commits on Oct 9, 2023

  1. Enforce physics model data to be jax numpy arrays 

    Otherwise the pytree structure changes after the first applied jax transformation
    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    fd18c0d View commit details
    Browse the repository at this point in the history

  2. Make JaxSim class inherit from Vmappable with decorated methods

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    5e322e4 View commit details
    Browse the repository at this point in the history

  3. New JaxSim.step_size method

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    e9ee4a7 View commit details
    Browse the repository at this point in the history

  4. Enforce dtype of data returned by JaxSim objects

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    ca22cc8 View commit details
    Browse the repository at this point in the history

  5. Make high-level Link inherit from Vmappable with decorated methods

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    3f61287 View commit details
    Browse the repository at this point in the history

  6. Make high-level Joint inherit from Vmappable with decorated methods

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    2ae562e View commit details
    Browse the repository at this point in the history

  7. Mitigate circular import in high-level Model

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    4e1e790 View commit details
    Browse the repository at this point in the history

  8. Make high-level Model inherit from Vmappable with decorated methods

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    342ccad View commit details
    Browse the repository at this point in the history

  9. Ensure that quaternion has unary norm in high-level model

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    31f903d View commit details
    Browse the repository at this point in the history

  10. Update existing tests

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    8be1fef View commit details
    Browse the repository at this point in the history

  11. Update top-level init

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    d28574d View commit details
    Browse the repository at this point in the history

  12. Fix representation of Link.external_force

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    e6edbfc View commit details
    Browse the repository at this point in the history

  13. Fix mixed adjoint in Link.add_external force

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    a3e5220 View commit details
    Browse the repository at this point in the history

  14. Update jnp.block usage to prevent IDE warnings

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    5b95a6b View commit details
    Browse the repository at this point in the history

  15. Invert transform without jnp.linalg.inv

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    91b5282 View commit details
    Browse the repository at this point in the history

  16. Fix computation of Model.com_position

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    acc4681 View commit details
    Browse the repository at this point in the history

  17. Prefer using tuple[str, ...] instead of list[str] 

    Static arguments must be hashable, therefore lists cannot be passed
    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    79879b7 View commit details
    Browse the repository at this point in the history

  18. Rename Link.add_{,com_}external_force o Link.apply_{,com_}external_force 

    The link force can either override or be summed with previously set forces. The default behavior is to sum it.
    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    32445e4 View commit details
    Browse the repository at this point in the history

  19. Rename Model sections

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    d38be87 View commit details
    Browse the repository at this point in the history

  20. Move r/w methods of Link to Model

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    5a975d4 View commit details
    Browse the repository at this point in the history

  21. Clarify that Link and Joint are r/o helpers

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    a539b44 View commit details
    Browse the repository at this point in the history

  22. Disable jit when gathering links and joint objects

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    b6043b6 View commit details
    Browse the repository at this point in the history

  23. Set mutability when joints and links are extracted

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    d63b181 View commit details
    Browse the repository at this point in the history

  24. Minor typing update in Joint

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    91723d7 View commit details
    Browse the repository at this point in the history

  25. Import VelRepr in high_level package

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    9b4d65d View commit details
    Browse the repository at this point in the history

  26. Make JaxsimDataclass a dataclass

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    106c3dc View commit details
    Browse the repository at this point in the history

  27. Fix existing tests after API changes

    @diegoferigo
    diegoferigo committed Oct 9, 2023
    Configuration menu
    Copy the full SHA
    7384d41 View commit details
    Browse the repository at this point in the history