jaxsim
jaxsim copied to clipboard
ami-iit
A differentiable physics engine and multibody dynamics library for control and robot learning.
This PR adds a new rigid contacts model to the codebase. ---- ð Documentation preview ð: https://jaxsim--149.org.readthedocs.build//149/
PR #83 introduced initial support of visualizing the kinematics of simulated models with the passive Mujoco viewer. It would be pretty interesting to exploit the same viewer to also visualize...
Closes #147 ---- ð Documentation preview ð: https://jaxsim--148.org.readthedocs.build//148/
WIP cc @xela-95 ---- ð Documentation preview ð: https://jaxsim--150.org.readthedocs.build//150/
The [rod](https://github.com/ami-iit/rod) parser used under the hood, being primarily based on SDF, supports the definition of frames. Furthermore, our parsing logic [automatically detects](https://github.com/ami-iit/jaxsim/blob/00ab4047ec476240635a105bd62a0b5cff62709d/src/jaxsim/parsers/kinematic_graph.py#L235-L243) kinematic chains `(link)->(fixed joint)->(dummy link with zero...
Also with the new functional APIs, the following problem still affects our code: ``` ValueError: The truth value of an array with more than one element is ambiguous. Use a.any()...
JaxSim, by default, [enforces](https://github.com/ami-iit/jaxsim/blob/10c719984c0b600afd165d65a25f215d8bc28a75/src/jaxsim/__init__.py#L11-L20) JAX to run in [64-bit precision](https://jax.readthedocs.io/en/latest/notebooks/Common_Gotchas_in_JAX.html#double-64bit-precision). This is necessary to execute our RBDAs and compare the results to third-party C++ libraries. As explained in #109, executing...
$\dot{J}_{A,B}$ is the derivative of the floating-base jacobian of frames/links. As a reference, we can start from the computation of $\dot{J} \boldsymbol{\nu}$ as in [`iDynTree::KinDynComputations::getFrameBiasAcc`](https://robotology.github.io/idyntree/classiDynTree_1_1KinDynComputations.html#afa27f56b8951ecf8a3dd6edc34bd6482).
JAXsim currently focuses only on sampling performance, exploiting `jax.jit` and `jax.vmap`. Being written in JAX, the forward step of the simulation should be differentiable (also considering contact dynamics, since it...
This issue is mainly a collection of desired features in centroidal coordinates: - Centroidal momentum ${}_G \mathbf{h} \in \mathbb{R}^6$. - Add a new `VelRepr.Centroidal` to obtain the centroidal dynamics using...