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New high-level APIs with OOP wrappers #59

Merged
merged 62 commits into from
Dec 6, 2023
Merged

New high-level APIs with OOP wrappers #59

merged 62 commits into from
Dec 6, 2023

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diegoferigo
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@diegoferigo diegoferigo commented Nov 9, 2023 •
edited

This PR is merging into main the features implemented in #44 and #48. Refer to #52 for further details.

@diegoferigo
Revert "Perform a deep copy when copying pytrees"
f1fbe68 
This reverts commit f8b5478.
@diegoferigo
Always restore mutability before exiting the context manager
825ff5a
@diegoferigo
Convert utils.py module to jaxsim.utils package
719eb40
@diegoferigo
Create abstract class that can be automatically vectorized with vmap
68ac4b5
@diegoferigo
Add decorators to apply jit and vmap on jax dataclasses methods
b005b8a
@diegoferigo
Add tests for applying jax transformations in OOP on jax dataclasses
d922ccf
@diegoferigo
Add typing_extension dependency for Python < 3.11
ce844c7
@diegoferigo
Use typing.Self in jaxsim_dataclass
d93b4ca
@diegoferigo
Initialize __mutability__ in jaxsim_dataclass
a3bc673
@diegoferigo
Restore the original pytree content if mutable_context raises
84f5ef5
@diegoferigo
Extend the tracing detection checking also the Tracer type
6b424bf
@diegoferigo
Remove resources deprecated in upstream
75b8d27
@diegoferigo
Run tests in subprocess and move pytest configuration to pyproject.toml
c1f5b63
@diegoferigo
Merge pull request #44 from ami-iit/fix/trace_leak
cf3575c 
Introduce resources to streamline the combination of jax transformation with OOP pattern
@diegoferigo
Enforce physics model data to be jax numpy arrays
fd18c0d 
Otherwise the pytree structure changes after the first applied jax transformation
@diegoferigo
Make JaxSim class inherit from Vmappable with decorated methods
5e322e4
@diegoferigo
New JaxSim.step_size method
e9ee4a7
@diegoferigo
Enforce dtype of data returned by JaxSim objects
ca22cc8
@diegoferigo
Make high-level Link inherit from Vmappable with decorated methods
3f61287
@diegoferigo
Make high-level Joint inherit from Vmappable with decorated methods
2ae562e
@diegoferigo
Mitigate circular import in high-level Model
4e1e790
@diegoferigo
Make high-level Model inherit from Vmappable with decorated methods
342ccad
@diegoferigo
Ensure that quaternion has unary norm in high-level model
31f903d
@diegoferigo
Update existing tests
8be1fef
@diegoferigo
Update top-level init
d28574d
@diegoferigo
Fix representation of Link.external_force
e6edbfc
@diegoferigo
Fix mixed adjoint in Link.add_external force
a3e5220
@diegoferigo
Update jnp.block usage to prevent IDE warnings
5b95a6b
@diegoferigo
Invert transform without jnp.linalg.inv
91b5282
@diegoferigo
Fix computation of Model.com_position
acc4681
@diegoferigo
Minor typing update in Joint
91723d7
@diegoferigo
Import VelRepr in high_level package
9b4d65d
@diegoferigo
Make JaxsimDataclass a dataclass
106c3dc
@diegoferigo
Fix existing tests after API changes
7384d41
@diegoferigo
Merge pull request #48 from ami-iit/feature/oop_with_jax
309582f 
Apply new OOP pattern compatible with jax transformations
@diegoferigo
Allow pre-step callbacks to generate output
03af4f4
@diegoferigo
Update jaxsim.simulation.__init__.py
90a1eab
@diegoferigo
Remove leftover methods no longer valid
35b5159
@diegoferigo
Rename Joint.{joint_,}force to Joint.{joint_,}force_target
380d20c
@diegoferigo
Fix descriptions.{Link|Joint} behavior as jax dataclasses
c2ff048
@diegoferigo
Fix jnp.block usage
207a4a1
@diegoferigo
Do not hash parent model in Link and Joint
f3d6af8
@diegoferigo
Fix height calculation of PlaneTerrain
0a1c38d
@diegoferigo
Removed unused scipy dependency
ab51d02
@diegoferigo
Merge pull request #53 from ami-iit/minor_api_update
5573944 
Minor updates including small API changes
@diegoferigo
Fix differentiating through Quaternion.derivative
1b26141
@diegoferigo
Allow differentiating through the SoftContacts algorithm
f4db5dd
@diegoferigo
Add test for automatic differentiation of RBDAs
c5c799d
@diegoferigo
Merge pull request #54 from ami-iit/automatic_differentiation
e9bb166 
First steps towards automatic differentiation of RBDAs
@diegoferigo
Make all fields of simulator.JaxSim static, excluding SimulatorData
0d59772 
Fixes trace leaks  when jitting vectorized simulations
@diegoferigo
Merge pull request #55 from ami-iit/fix/jaxsim_static_fields
804d525 
Make all fields of `simulator.JaxSim` static excluding `SimulatorData`
@diegoferigo diegoferigo self-assigned this Nov 9, 2023
@flferretti flferretti marked this pull request as ready for review December 6, 2023 04:10
@diegoferigo diegoferigo merged commit 293161c into main Dec 6, 2023
16 checks passed
@diegoferigo diegoferigo deleted the new_api branch December 6, 2023 05:52
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@flferretti flferretti flferretti approved these changes

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