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diegoferigo authored Jul 5, 2024
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81 changes: 80 additions & 1 deletion README.md
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Expand Up @@ -29,6 +29,7 @@ Its design facilitates research and accelerates prototyping in the intersection
- Provides all the quantities included in the Euler-Poincarè formulation of the equations of motion.
- Supports body-fixed, inertial-fixed, and mixed [velocity representations][notation].
- Exposes all the necessary quantities to develop controllers in centroidal coordinates.
- Supports running open-loop and full closed-loop control architectures on hardware accelerators.

### JaxSim for robot learning

Expand Down Expand Up @@ -82,7 +83,7 @@ You can install the project using [`pypa/pip`][pip], preferably in a [virtual en
pip install jaxsim
```

Check [`setup.cfg`](setup.cfg) for the complete list of optional dependencies.
Check [`pyproject.toml`](pyproject.toml) for the complete list of optional dependencies.
You can obtain a full installation using `jaxsim[all]`.

If you need GPU support, follow the official [installation instructions][jax_gpu] of JAX.
Expand Down Expand Up @@ -112,6 +113,71 @@ pip install --no-deps -e .
[venv]: https://docs.python.org/3/tutorial/venv.html
[jax_gpu]: https://github.com/google/jax/#installation

## Overview

<details>
<summary>Structure of the Python package</summary>

```
# tree -L 2 -I "__pycache__" -I "__init__*" -I "__main__*" src/jaxsim
src/jaxsim
|-- api..........................# Package containing the main functional APIs.
| |-- com.py...................# |-- APIs for computing quantities related to the center of mass.
| |-- common.py................# |-- Common utilities used in the current package.
| |-- contact.py...............# |-- APIs for computing quantities related to the collidable points.
| |-- data.py..................# |-- Class storing the data of a simulated model.
| |-- frame.py.................# |-- APIs for computing quantities related to additional frames.
| |-- joint.py.................# |-- APIs for computing quantities related to the joints.
| |-- kin_dyn_parameters.py....# |-- Class storing kinematic and dynamic parameters of a model.
| |-- link.py..................# |-- APIs for computing quantities related to the links.
| |-- model.py.................# |-- Class defining a simulated model and APIs for computing related quantities.
| |-- ode.py...................# |-- APIs for computing quantities related to the system dynamics.
| |-- ode_data.py..............# |-- Set of classes to store the data of the system dynamics.
| `-- references.py............# `-- Helper class to create references (link forces and joint torques).
|-- exceptions.py................# Module containing functions to raise exceptions from JIT-compiled functions.
|-- integrators..................# Package containing the integrators used to simulate the system dynamics.
| |-- common.py................# |-- Common utilities used in the current package.
| |-- fixed_step.py............# |-- Fixed-step integrators (explicit Runge-Kutta schemes).
| `-- variable_step.py.........# `-- Variable-step integrators (embedded Runge-Kutta schemes).
|-- logging.py...................# Module containing logging utilities.
|-- math.........................# Package containing mathematical utilities.
| |-- adjoint.py...............# |-- APIs for creating and manipulating 6D transformations.
| |-- cross.py.................# |-- APIs for computing cross products of 6D quantities.
| |-- inertia.py...............# |-- APIs for creating and manipulating 6D inertia matrices.
| |-- joint_model.py...........# |-- APIs defining the supported joint model and the corresponding transformations.
| |-- quaternion.py............# |-- APIs for creating and manipulating quaternions.
| |-- rotation.py..............# |-- APIs for creating and manipulating rotation matrices.
| |-- skew.py..................# |-- APIs for creating and manipulating skew-symmetric matrices.
| `-- transform.py.............# `-- APIs for creating and manipulating homogeneous transformations.
|-- mujoco.......................# Package containing utilities to interact with the Mujoco passive viewer.
| |-- loaders.py...............# |-- Utilities for converting JaxSim models to Mujoco models.
| |-- model.py.................# |-- Class providing high-level methods to compute quantities using Mujoco.
| `-- visualizer.py............# `-- Class that simplifies opening the passive viewer and recording videos.
|-- parsers......................# Package containing utilities to parse model descriptions (SDF and URDF models).
| |-- descriptions/............# |-- Package containing the intermediate representation of a model description.
| |-- kinematic_graph.py.......# |-- Definition of the kinematic graph associated with a parsed model description.
| `-- rod/.....................# `-- Package to create the intermediate representation from model descriptions using ROD.
|-- rbda.........................# Package containing the low-level rigid body dynamics algorithms.
| |-- aba.py...................# |-- The Articulated Body Algorithm.
| |-- collidable_points.py.....# |-- Kinematics of collidable points.
| |-- contacts/................# |-- Package containing the supported contact models.
| |-- crba.py..................# |-- The Composite Rigid Body Algorithm.
| |-- forward_kinematics.py....# |-- Forward kinematics of the model.
| |-- jacobian.py..............# |-- Full Jacobian and full Jacobian derivative.
| |-- rnea.py..................# |-- The Recursive Newton-Euler Algorithm.
| `-- utils.py.................# `-- Common utilities used in the current package.
|-- terrain......................# Package containing resources to specify the terrain.
| `-- terrain.py...............# `-- Classes defining the supported terrains.
|-- typing.py....................# Module containing type hints.
`-- utils........................# Package of common utilities.
|-- jaxsim_dataclass.py......# |-- Utilities to operate on pytree dataclasses.
|-- tracing.py...............# |-- Utilities to use when JAX is tracing functions.
`-- wrappers.py..............# `-- Utilities to wrap objects for specific use cases on pytree dataclass attributes.
```

</details>

## Credits

The RBDAs are based on the theory of the [Rigid Body Dynamics Algorithms][RBDA]
Expand Down Expand Up @@ -157,6 +223,19 @@ Please read the [contributing guide](./CONTRIBUTING.md) to get started.
}
```

Theoretical aspects of JaxSim are based on Chapters 7 and 8 of the following Ph.D. thesis:

```bibtex
@phdthesis{ferigo_phd_thesis_2022,
title = {Simulation Architectures for Reinforcement Learning applied to Robotics},
author = {Diego Ferigo},
school = {University of Manchester},
type = {PhD Thesis},
month = {July},
year = {2022},
}
```

## People

| Author | Maintainers |
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173 changes: 137 additions & 36 deletions pyproject.toml
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@@ -1,19 +1,112 @@
[project]
dynamic = ["version", "dependencies", "optional-dependencies", "urls", "classifiers", "keywords", "authors", "requires-python", "license", "readme"]
name = "jaxsim"
dynamic = ["version"]
requires-python = ">= 3.10"
description = "A differentiable physics engine and multibody dynamics library for control and robot learning."
authors = [
{ name = "Diego Ferigo", email = "[email protected]" },
]
maintainers = [
{ name = "Diego Ferigo", email = "[email protected]" },
{ name = "Filippo Luca Ferretti", email = "[email protected]" },
]
license.file = "LICENSE"
keywords = [
"physics",
"physics engine",
"jax",
"rigid body dynamics",
"featherstone",
"reinforcement learning",
"robot",
"robotics",
"sdf",
"urdf",
]
classifiers = [
"Development Status :: 4 - Beta",
"Framework :: Robot Framework",
"Intended Audience :: Developers",
"Intended Audience :: Science/Research",
"License :: OSI Approved :: BSD License",
"Operating System :: POSIX :: Linux",
"Operating System :: MacOS",
"Operating System :: Microsoft",
"Programming Language :: Python :: 3 :: Only",
"Programming Language :: Python :: 3.10",
"Programming Language :: Python :: 3.11",
"Programming Language :: Python :: 3.12",
"Programming Language :: Python :: Implementation :: CPython",
"Topic :: Games/Entertainment :: Simulation",
"Topic :: Scientific/Engineering :: Artificial Intelligence",
"Topic :: Scientific/Engineering :: Physics",
"Topic :: Software Development",
]
dependencies = [
"coloredlogs",
"jax >= 0.4.13",
"jaxlib >= 0.4.13",
"jaxlie >= 1.3.0",
"jax_dataclasses >= 1.4.0",
"pptree",
"rod >= 0.3.0",
"typing_extensions ; python_version < '3.12'",
]

[project.optional-dependencies]
style = [
"black[jupyter] ~= 24.0",
"isort",
"pre-commit",
]
testing = [
"idyntree >= 12.2.1",
"pytest >=6.0",
"pytest-icdiff",
"robot-descriptions",
]
viz = [
"lxml",
"mediapy",
"mujoco >= 3.0.0",
]
all = [
"jaxsim[style,testing,viz]",
]

[project.readme]
file = "README.md"
content-type = "text/markdown"

[project.urls]
Changelog = "https://github.com/ami-iit/jaxsim/releases"
Documentation = "https://jaxsim.readthedocs.io"
Source = "https://github.com/ami-iit/jaxsim"
Tracker = "https://github.com/ami-iit/jaxsim/issues"

# ===========
# Build tools
# ===========

[build-system]
build-backend = "setuptools.build_meta"
requires = [
"wheel",
"setuptools>=64",
"setuptools_scm[toml]>=8",
"setuptools>=64",
"setuptools-scm[toml]>=8",
"wheel",
]

[tool.setuptools]
package-dir = { "" = "src" }

[tool.setuptools_scm]
local_scheme = "dirty-tag"
version_file = "src/jaxsim/_version.py"

# =================
# Style and testing
# =================

[tool.black]
line-length = 88

Expand All @@ -25,42 +118,46 @@ profile = "black"
addopts = "-rsxX -v --strict-markers"
minversion = "6.0"
testpaths = [
"tests",
"tests",
]

# ==================
# Ruff configuration
# ==================

[tool.ruff]
exclude = [
".git",
".pytest_cache",
".ruff_cache",
".vscode",
".devcontainer",
"__pycache__",
".git",
".pytest_cache",
".ruff_cache",
".vscode",
".devcontainer",
"__pycache__",
]
preview = true

[tool.ruff.lint]
# https://docs.astral.sh/ruff/rules/
select = [
"B",
"E",
"F",
"I",
"W",
"RUF",
"YTT",
"B",
"E",
"F",
"I",
"W",
"RUF",
"YTT",
]

ignore = [
"B008", # Function call in default argument
"B024", # Abstract base class without abstract methods
"E402", # Module level import not at top of file
"E501", # Line too long
"E731", # Do not assign a `lambda` expression, use a `def`
"E741", # Ambiguous variable name
"F841", # Local variable is assigned to but never used
"I001", # Import block is unsorted or unformatted
"RUF003", # Ambigous unicode character in comment
"B008", # Function call in default argument
"B024", # Abstract base class without abstract methods
"E402", # Module level import not at top of file
"E501", # Line too long
"E731", # Do not assign a `lambda` expression, use a `def`
"E741", # Ambiguous variable name
"F841", # Local variable is assigned to but never used
"I001", # Import block is unsorted or unformatted
"RUF003", # Ambigous unicode character in comment
]

[tool.ruff.lint.per-file-ignores]
Expand All @@ -70,6 +167,10 @@ ignore = [
"__init__.py" = ["F401"]
"docs/conf.py" = ["F401"]

# ==================
# Pixi configuration
# ==================

[tool.pixi.project]
channels = ["conda-forge"]
platforms = ["linux-64", "osx-arm64", "osx-64"]
Expand All @@ -90,9 +191,9 @@ sdformat14 = "*"
typing_extensions = "*"

[tool.pixi.feature.test.tasks]
examples = {cmd = "jupyter notebook ./examples"}
examples = { cmd = "jupyter notebook ./examples" }
pipcheck = "pip check"
test = {cmd = "pytest", depends_on = ["pipcheck"]}
test = { cmd = "pytest", depends_on = ["pipcheck"] }

[tool.pixi.feature.test.dependencies]
black = "24.*"
Expand All @@ -105,15 +206,15 @@ pytest-icdiff = "*"
robot_descriptions = "*"

[tool.pixi.feature.gpu]
dependencies = {cuda-version = "12.*", cuda-cupti = "*", jaxlib = "**cuda*"}
dependencies = { cuda-version = "12.*", cuda-cupti = "*", jaxlib = "**cuda*" }
platforms = ["linux-64"]
system-requirements = {cuda = "12.1"}
system-requirements = { cuda = "12.1" }

[tool.pixi.pypi-dependencies]
jaxsim = {path = "./", editable = true}
jaxsim = { path = "./", editable = true }

[tool.pixi.environments]
default = {solve-group = "cpugroup"}
gpu = {features = ["gpu"], solve-group = "gpugroup"}
test-cpu = {features = ["test"], solve-group = "cpugroup"}
test-gpu = {features = ["test", "gpu"], solve-group = "gpugroup"}
default = { solve-group = "cpugroup" }
gpu = { features = ["gpu"], solve-group = "gpugroup" }
test-cpu = { features = ["test"], solve-group = "cpugroup" }
test-gpu = { features = ["test", "gpu"], solve-group = "gpugroup" }
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