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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

Commits on Aug 4, 2023

  1. Revert "Perform a deep copy when copying pytrees" 

    This reverts commit f8b5478.
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  2. Always restore mutability before exiting the context manager

    @diegoferigo
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  3. Convert utils.py module to jaxsim.utils package

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  4. Create abstract class that can be automatically vectorized with vmap

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Commits on Oct 9, 2023

  1. Add decorators to apply jit and vmap on jax dataclasses methods

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  2. Add tests for applying jax transformations in OOP on jax dataclasses

    @diegoferigo
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  3. Add typing_extension dependency for Python < 3.11

    @diegoferigo
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  4. Use typing.Self in jaxsim_dataclass

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  5. Initialize __mutability__ in jaxsim_dataclass

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  6. Restore the original pytree content if mutable_context raises

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  7. Extend the tracing detection checking also the Tracer type

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  8. Remove resources deprecated in upstream

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  9. Run tests in subprocess and move pytest configuration to pyproject.toml

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  10. Merge pull request #44 from ami-iit/fix/trace_leak 

    Introduce resources to streamline the combination of jax transformation with OOP pattern
    @diegoferigo
    diegoferigo authored Oct 9, 2023
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  11. Enforce physics model data to be jax numpy arrays 

    Otherwise the pytree structure changes after the first applied jax transformation
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  12. Make JaxSim class inherit from Vmappable with decorated methods

    @diegoferigo
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  13. New JaxSim.step_size method

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  14. Enforce dtype of data returned by JaxSim objects

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

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

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  17. Mitigate circular import in high-level Model

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

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

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  20. Update existing tests

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  21. Update top-level init

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  22. Fix representation of Link.external_force

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  23. Fix mixed adjoint in Link.add_external force

    @diegoferigo
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  24. Update jnp.block usage to prevent IDE warnings

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  25. Invert transform without jnp.linalg.inv

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  26. Fix computation of Model.com_position

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

    Static arguments must be hashable, therefore lists cannot be passed
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  28. 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
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  29. Rename Model sections

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  30. Move r/w methods of Link to Model

    @diegoferigo
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  31. Clarify that Link and Joint are r/o helpers

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  32. Disable jit when gathering links and joint objects

    @diegoferigo
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  33. Set mutability when joints and links are extracted

    @diegoferigo
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  34. Minor typing update in Joint

    @diegoferigo
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  35. Import VelRepr in high_level package

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  36. Make JaxsimDataclass a dataclass

    @diegoferigo
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  37. Fix existing tests after API changes

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  38. Merge pull request #48 from ami-iit/feature/oop_with_jax 

    Apply new OOP pattern compatible with jax transformations
    @diegoferigo
    diegoferigo authored Oct 9, 2023
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  39. Allow pre-step callbacks to generate output

    @diegoferigo
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  40. Update jaxsim.simulation.__init__.py

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  41. Remove leftover methods no longer valid

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  42. Rename Joint.{joint_,}force to Joint.{joint_,}force_target

    @diegoferigo
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  43. Fix descriptions.{Link|Joint} behavior as jax dataclasses

    @diegoferigo
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  44. Fix jnp.block usage

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  45. Do not hash parent model in Link and Joint

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  46. Fix height calculation of PlaneTerrain

    @diegoferigo
    diegoferigo committed Oct 9, 2023
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  47. Removed unused scipy dependency

    @diegoferigo
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Commits on Oct 10, 2023

  1. Merge pull request #53 from ami-iit/minor_api_update 

    Minor updates including small API changes
    @diegoferigo
    diegoferigo authored Oct 10, 2023
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  2. Fix differentiating through Quaternion.derivative

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  3. Allow differentiating through the SoftContacts algorithm

    @diegoferigo
    diegoferigo committed Oct 10, 2023
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  4. Add test for automatic differentiation of RBDAs

    @diegoferigo
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Commits on Oct 11, 2023

  1. Merge pull request #54 from ami-iit/automatic_differentiation 

    First steps towards automatic differentiation of RBDAs
    @diegoferigo
    diegoferigo authored Oct 11, 2023
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Commits on Oct 20, 2023

  1. Make all fields of simulator.JaxSim static, excluding SimulatorData 

    Fixes trace leaks  when jitting vectorized simulations
    @diegoferigo
    diegoferigo committed Oct 20, 2023
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Commits on Oct 24, 2023

  1. Merge pull request #55 from ami-iit/fix/jaxsim_static_fields 

    Make all fields of `simulator.JaxSim` static excluding `SimulatorData`
    @diegoferigo
    diegoferigo authored Oct 24, 2023
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Commits on Dec 6, 2023

  1. Merge remote-tracking branch 'ami/main' into new_api

    @diegoferigo
    diegoferigo committed Dec 6, 2023
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  2. Remove pinnings necessary on old jax versions

    @diegoferigo
    diegoferigo committed Dec 6, 2023
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  3. Update bool typing

    @diegoferigo
    diegoferigo committed Dec 6, 2023
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  4. Update typing of random key

    @diegoferigo
    diegoferigo committed Dec 6, 2023
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