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

ABA and RNEA with jax.lax.scan, Python 3.11, fixed bugs in other representations #38

Merged
merged 20 commits into from
Jun 30, 2023
Merged

ABA and RNEA with jax.lax.scan, Python 3.11, fixed bugs in other representations #38

merged 20 commits into from
Jun 30, 2023

Commits on Jun 29, 2023

  1. New ABA implementation with jax.lax.scan 

    Co-authored-by: Filippo Luca Ferretti <[email protected]>
    @diegoferigo @flferretti
    diegoferigo and flferretti committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    8e92594 View commit details
    Browse the repository at this point in the history

  2. Remove unused imports

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    a461140 View commit details
    Browse the repository at this point in the history

  3. Invert the adjoint with the helper

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    8a49704 View commit details
    Browse the repository at this point in the history

  4. New RNEA implementation with jax.lax.scan

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    1d8df0e View commit details
    Browse the repository at this point in the history

  5. Update project to new jax_dataclasses and resolve circular import 

    Co-authored-by: Filippo Luca Ferretti <[email protected]>
    @diegoferigo @flferretti
    diegoferigo and flferretti committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    ac0a9b4 View commit details
    Browse the repository at this point in the history

  6. Update methods returning the external forces set to links by the user

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    3b8342f View commit details
    Browse the repository at this point in the history

  7. Remove exceptions used to guard against unimplemented variants

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    9723c22 View commit details
    Browse the repository at this point in the history

  8. Return zero base acceleration in ABA in fixed-base models

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    77cbab1 View commit details
    Browse the repository at this point in the history

  9. Update helpers to switch representation 

    Xv denotes the adjoint for 6D velocities, Xf the adjoint for 6D forces
    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    4a4291c View commit details
    Browse the repository at this point in the history

  10. Update setup.cfg

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    921fc4c View commit details
    Browse the repository at this point in the history

  11. Fix computation of the generalized free-floating jacobian

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    d15d185 View commit details
    Browse the repository at this point in the history

  12. Rename method to compute the free-floating bias forces

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    880bc3e View commit details
    Browse the repository at this point in the history

  13. Update the computation of forward dynamics from the EoM

    @diegoferigo
    diegoferigo committed Jun 29, 2023
    Configuration menu
    Copy the full SHA
    010dbb5 View commit details
    Browse the repository at this point in the history

Commits on Jun 30, 2023

  1. Fix computation of bias and gravity free-floating forces

    @diegoferigo
    diegoferigo committed Jun 30, 2023
    Configuration menu
    Copy the full SHA
    bf9a3bd View commit details
    Browse the repository at this point in the history

  2. Fix conversion of ABA base acceleration to different representations

    @diegoferigo
    diegoferigo committed Jun 30, 2023
    Configuration menu
    Copy the full SHA
    033b2ed View commit details
    Browse the repository at this point in the history

  3. Make PhysicModelInput inherit from JaxsimDataclass

    @diegoferigo
    diegoferigo committed Jun 30, 2023
    Configuration menu
    Copy the full SHA
    fe5408f View commit details
    Browse the repository at this point in the history

  4. Add tests of RBDAs

    @diegoferigo
    diegoferigo committed Jun 30, 2023
    Configuration menu
    Copy the full SHA
    4d7c162 View commit details
    Browse the repository at this point in the history

  5. Update project to support Python 3.11

    @diegoferigo
    diegoferigo committed Jun 30, 2023
    Configuration menu
    Copy the full SHA
    67a18f2 View commit details
    Browse the repository at this point in the history

  6. Perform a deep copy when copying pytrees

    @diegoferigo
    diegoferigo committed Jun 30, 2023
    Configuration menu
    Copy the full SHA
    f8b5478 View commit details
    Browse the repository at this point in the history

  7. Add workaround for iDynTree and Python 3.11

    @diegoferigo
    diegoferigo committed Jun 30, 2023
    Configuration menu
    Copy the full SHA
    457572e View commit details
    Browse the repository at this point in the history