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Simulator refactor#366

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CarlottaSartore merged 99 commits intomainami-iit/jaxsim:mainfrom sprint/devami-iit/jaxsim:sprint/devCopy head branch name to clipboardFeb 4, 2025

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• erase integrators

  

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• fix import

  

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• remotveintegrators

  

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• restore heun2 integrator

  

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• tentative change

  

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• adding quaternion integration from axis angle

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• improve semi implicit euler and add velocity representation

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• tentative fix

  

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• Pass link and joint forces to js.ode.system_dynamics

  

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• fix tests but one

  

  younik

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• Fix position derivative extraction in semi-implicit Euler

  

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• Remove rigid.py

  

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• Remove soft.py

  

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• Remove visco_elastic.py

  

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• Remove commented note about default contact model in JaxSimModel

  

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• Update jaxsim.rbda.contacts.__init__.py

  

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• Add _hunt_crossley_contact_model to initialize RelaxedRigidContacts

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• Refactor contact.py to use only RelaxedRigidContacts

  

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• Update JaxSimModel to use only RelaxedRigidContacts

  

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• Update JaxSimModelData to use only RelaxedRigidContacts

  

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• Refactor ode.py to simplify system_dynamics and system_velocity_dynamics

  

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• Remove unused soft contacts test and related parameters from automatic differentiation tests

  

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• Refactor simulation tests to remove soft contacts and streamline contact model handling

  

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• Create contact_model.py to contain all functions related to contact model handling

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• Add contact_model __init__.py

  

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• Remove collidable_point_dynamics function from contact module

  

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• Remove link_contact_forces function from model API

  

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• Remove compute_link_contact_forces and link_forces_from_contact_forces methods from ContactModel

  

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• Update link_contact_forces reference to use contact_model module

  

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• Remove collidable_point_forces function from contact.py

  

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• Refactor link_contact_forces to compute contact forces in inertial representation and remove unused methods

  

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• Refactor link_forces_from_contact_forces to work only in inertial

  

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• Update docstring to clarify that computed contact forces are in inertial representation

  

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• Refactor heun2_integration to remove aux_dict

  

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• Refactor system_velocity_dynamics and system_dynamics to use inertial velocity representation

  

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• Fix semi-implicit integrators

  

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• Fix pre-commit

  

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• Improve error message for incompatible PyTree structures

  

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• Update AD test to include aux dict and fix gradient check modes

  

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• Remove unnecessary VelRepr switch from rbda.contacts

  

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• Use inertial-fixed representation in system_dynamics

  

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• Remove unnecessary VelRepr switch in forward_dynamics_aba

  

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• remove ode_data

  

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• add comments

  

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• remove hashing

  

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• fix tests

  

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• Enable cache in JaxSimModelData and extract W_v_L in FK

  

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• Fix tests

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• Fix test_model_creation_and_reduction

  

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• Avoid extra call to contact Jacobian

  

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• Remove leftover jax.disable_jit()

  

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• Use JointType instead of integers in motion subspaces

  

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• Fix pre-commit

  

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• Fix formatting in tests

  

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• Remove Heun's method integration function from integrators.py

  

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• removed usage of reference

  

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• Remove commented-out reference handling in system_velocity_dynamics

  

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• Add contact_params to JaxSimModel build

  

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• Add jaxlie import to joint_model.py

  

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• Fix attribute access for base_transform in semi_implicit_euler_integration

  

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• Update cached data in test_automatic_differentiation

  

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• Refactor collidable_points_pos_vel to use cached link transforms and velocities

  

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• Refactor collidable_point_kinematics to use link transforms and velocities

  

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• Add initialization for terrain contact forces in system_velocity_dynamics

  

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• Add actuation_model.py to compute resultant joint torques

  

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• Add actuation_model import to API module

  

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• Refactor system_velocity_dynamics and system_acceleration

  

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• Rename joint_force_references to joint_torques in RelaxedRigidContacts

  

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• Refactor semi_implicit_euler_integration

  

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• Refactor step function

  

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• Refactor test_box_with_zero_gravity to use only jaxsim.VelRepr.Inertial

  

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• Rename joint_force_references to joint_torques in link_contact_forces function

  

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• Update step function changing order of torques and link forces computation

  

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• Rename link_forces parameter to link_forces_inertial in step function for clarity

  

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• Add data.switch in semi_implicit_euler_integration

  

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• Refactor link_contact_forces function by removing unused kwargs and clarifying parameter descriptions

  

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• Fix call to link_contact_forces in step

  

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• fix device transfers

  

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• Disable exceptions by default

  

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• Change flag name to enable exceptions

  

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• Enable exceptions in tests

  

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• Fix argument name in AD integration test

  

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• Save time_step and reduced joint positions as float

  

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• Fix missing switch to mixed in RelaxedRigidContacts compute_contact_forces

  

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• Update src/jaxsim/rbda/contacts/relaxed_rigid.py

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• [Sprint] Set mixed as default representation in data.build (#361)

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• remove resets

  

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• make attributes private + add properties

  

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• fix data replace representation

  

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• double replace solution

  

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• add todo

  

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• fix formatting

  

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• fix override import

  

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• fix tests

  

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• add base_transform property

  

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• [Sprint] Clean up readme (#365)

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• update ci for work on ubuntu last

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• udpate ci

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• fix optax version for issues with automatic differentiation tests

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