Add @named_scope decorator to main API function

ami-iit · Dec 9, 2024 · 33919cb · 33919cb
1 parent d730d69
commit 33919cb
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Showing 8 changed files with 69 additions and 2 deletions.
diff --git a/src/jaxsim/api/com.py b/src/jaxsim/api/com.py
@@ -8,6 +8,7 @@
 from .common import VelRepr
 
 
+@js.common.named_scope
 @jax.jit
 def com_position(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -44,6 +45,7 @@ def B_p̃_LCoM(i) -> jtp.Vector:
     return (W_H_B @ B_p̃_CoM)[0:3].astype(float)
 
 
+@js.common.named_scope
 @jax.jit
 def com_linear_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -74,6 +76,7 @@ def com_linear_velocity(
     return G_vl_WG
 
 
+@js.common.named_scope
 @jax.jit
 def centroidal_momentum(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -101,6 +104,7 @@ def centroidal_momentum(
     return G_J @ ν
 
 
+@js.common.named_scope
 @jax.jit
 def centroidal_momentum_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -149,6 +153,7 @@ def centroidal_momentum_jacobian(
     return G_Xf_B @ B_Jh
 
 
+@js.common.named_scope
 @jax.jit
 def locked_centroidal_spatial_inertia(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -186,6 +191,7 @@ def locked_centroidal_spatial_inertia(
     return G_Xf_B @ B_Mbb_B @ B_Xv_G
 
 
+@js.common.named_scope
 @jax.jit
 def average_centroidal_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -213,6 +219,7 @@ def average_centroidal_velocity(
     return G_J @ ν
 
 
+@js.common.named_scope
 @jax.jit
 def average_centroidal_velocity_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -239,6 +246,7 @@ def average_centroidal_velocity_jacobian(
     return jnp.linalg.inv(G_Mbb) @ G_J
 
 
+@js.common.named_scope
 @jax.jit
 def bias_acceleration(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData

diff --git a/src/jaxsim/api/contact.py b/src/jaxsim/api/contact.py
@@ -16,6 +16,7 @@
 from .common import VelRepr
 
 
+@js.common.named_scope
 @jax.jit
 def collidable_point_kinematics(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -52,6 +53,7 @@ def collidable_point_kinematics(
     return W_p_Ci, W_ṗ_Ci
 
 
+@js.common.named_scope
 @jax.jit
 def collidable_point_positions(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -72,6 +74,7 @@ def collidable_point_positions(
     return W_p_Ci
 
 
+@js.common.named_scope
 @jax.jit
 def collidable_point_velocities(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
@@ -92,6 +95,7 @@ def collidable_point_velocities(
     return W_ṗ_Ci
 
 
+@js.common.named_scope
 @jax.jit
 def collidable_point_forces(
     model: js.model.JaxSimModel,
@@ -129,6 +133,7 @@ def collidable_point_forces(
     return f_Ci
 
 
+@js.common.named_scope
 @jax.jit
 def collidable_point_dynamics(
     model: js.model.JaxSimModel,
@@ -227,6 +232,7 @@ def collidable_point_dynamics(
     return f_Ci, aux_data
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["link_names"])
 def in_contact(
     model: js.model.JaxSimModel,
@@ -424,6 +430,7 @@ def estimate_model_height(model: js.model.JaxSimModel) -> jtp.Float:
     return parameters
 
 
+@js.common.named_scope
 @jax.jit
 def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
     r"""
@@ -469,6 +476,7 @@ def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jt
     return jax.vmap(lambda W_H_Li, L_H_Ci: W_H_Li @ L_H_Ci)(W_H_L, L_H_C)
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
 def jacobian(
     model: js.model.JaxSimModel,
@@ -561,6 +569,7 @@ def mixed_jacobian(W_H_C: jtp.Matrix, W_J_WC: jtp.Matrix) -> jtp.Matrix:
     return O_J_WC
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
 def jacobian_derivative(
     model: js.model.JaxSimModel,

diff --git a/src/jaxsim/api/data.py b/src/jaxsim/api/data.py
@@ -253,6 +253,7 @@ def standard_gravity(self) -> jtp.Float:
 
         return -self.gravity[2]
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["joint_names"])
     def joint_positions(
         self,
@@ -300,6 +301,7 @@ def joint_positions(
 
         return self.state.physics_model.joint_positions[joint_idxs]
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["joint_names"])
     def joint_velocities(
         self,
@@ -347,6 +349,7 @@ def joint_velocities(
 
         return self.state.physics_model.joint_velocities[joint_idxs]
 
+    @js.common.named_scope
     @jax.jit
     def base_position(self) -> jtp.Vector:
         """
@@ -358,6 +361,7 @@ def base_position(self) -> jtp.Vector:
 
         return self.state.physics_model.base_position.squeeze()
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["dcm"])
     def base_orientation(self, dcm: jtp.BoolLike = False) -> jtp.Vector | jtp.Matrix:
         """
@@ -386,6 +390,7 @@ def base_orientation(self, dcm: jtp.BoolLike = False) -> jtp.Vector | jtp.Matrix
             float
         )
 
+    @js.common.named_scope
     @jax.jit
     def base_transform(self) -> jtp.Matrix:
         """
@@ -405,6 +410,7 @@ def base_transform(self) -> jtp.Matrix:
             ]
         )
 
+    @js.common.named_scope
     @jax.jit
     def base_velocity(self) -> jtp.Vector:
         """
@@ -434,6 +440,7 @@ def base_velocity(self) -> jtp.Vector:
             .astype(float)
         )
 
+    @js.common.named_scope
     @jax.jit
     def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
         r"""
@@ -446,6 +453,7 @@ def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
 
         return self.base_transform(), self.joint_positions()
 
+    @js.common.named_scope
     @jax.jit
     def generalized_velocity(self) -> jtp.Vector:
         r"""
@@ -466,6 +474,7 @@ def generalized_velocity(self) -> jtp.Vector:
     # Store quantities
     # ================
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["joint_names"])
     def reset_joint_positions(
         self,
@@ -514,6 +523,7 @@ def replace(s: jtp.VectorLike) -> JaxSimModelData:
             s=self.state.physics_model.joint_positions.at[joint_idxs].set(positions)
         )
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["joint_names"])
     def reset_joint_velocities(
         self,
@@ -562,6 +572,7 @@ def replace(ṡ: jtp.VectorLike) -> JaxSimModelData:
             ṡ=self.state.physics_model.joint_velocities.at[joint_idxs].set(velocities)
         )
 
+    @js.common.named_scope
     @jax.jit
     def reset_base_position(self, base_position: jtp.VectorLike) -> Self:
         """
@@ -585,6 +596,7 @@ def reset_base_position(self, base_position: jtp.VectorLike) -> Self:
             ),
         )
 
+    @js.common.named_scope
     @jax.jit
     def reset_base_quaternion(self, base_quaternion: jtp.VectorLike) -> Self:
         """
@@ -612,6 +624,7 @@ def reset_base_quaternion(self, base_quaternion: jtp.VectorLike) -> Self:
             ),
         )
 
+    @js.common.named_scope
     @jax.jit
     def reset_base_pose(self, base_pose: jtp.MatrixLike) -> Self:
         """
@@ -634,6 +647,7 @@ def reset_base_pose(self, base_pose: jtp.MatrixLike) -> Self:
             base_quaternion=W_Q_B
         )
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["velocity_representation"])
     def reset_base_linear_velocity(
         self,
@@ -665,6 +679,7 @@ def reset_base_linear_velocity(
             velocity_representation=velocity_representation,
         )
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["velocity_representation"])
     def reset_base_angular_velocity(
         self,
@@ -696,6 +711,7 @@ def reset_base_angular_velocity(
             velocity_representation=velocity_representation,
         )
 
+    @js.common.named_scope
     @functools.partial(jax.jit, static_argnames=["velocity_representation"])
     def reset_base_velocity(
         self,

diff --git a/src/jaxsim/api/frame.py b/src/jaxsim/api/frame.py
@@ -16,6 +16,7 @@
 # =======================
 
 
+@js.common.named_scope
 @jax.jit
 def idx_of_parent_link(
     model: js.model.JaxSimModel, *, frame_index: jtp.IntLike
@@ -45,6 +46,7 @@ def idx_of_parent_link(
     ]
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="frame_name")
 def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.Int:
     """
@@ -97,6 +99,7 @@ def idx_to_name(model: js.model.JaxSimModel, *, frame_index: jtp.IntLike) -> str
     ]
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["frame_names"])
 def names_to_idxs(
     model: js.model.JaxSimModel, *, frame_names: Sequence[str]
@@ -139,6 +142,7 @@ def idxs_to_names(
 # ==========
 
 
+@js.common.named_scope
 @jax.jit
 def transform(
     model: js.model.JaxSimModel,
@@ -180,6 +184,7 @@ def transform(
     return W_H_L @ L_H_F
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
 def velocity(
     model: js.model.JaxSimModel,
@@ -230,6 +235,7 @@ def velocity(
     return O_J_WF_I @ I_ν
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
 def jacobian(
     model: js.model.JaxSimModel,
@@ -309,6 +315,7 @@ def jacobian(
     return O_J_WL_I
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
 def jacobian_derivative(
     model: js.model.JaxSimModel,

diff --git a/src/jaxsim/api/joint.py b/src/jaxsim/api/joint.py
@@ -13,6 +13,7 @@
 # =======================
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_name")
 def name_to_idx(model: js.model.JaxSimModel, *, joint_name: str) -> jtp.Int:
     """
@@ -61,6 +62,7 @@ def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike) -> str
     return model.kin_dyn_parameters.joint_model.joint_names[joint_index + 1]
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_names")
 def names_to_idxs(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str]
@@ -141,6 +143,7 @@ def position_limit(
     return s_min.astype(float), s_max.astype(float)
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
 def position_limits(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str] | None = None
@@ -176,6 +179,7 @@ def position_limits(
 # ======================
 
 
+@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
 def random_joint_positions(
     model: js.model.JaxSimModel,