Move StandardGravity to jaxsim.math

ami-iit · Mar 18, 2024 · 900ea0d · 900ea0d
1 parent 1b4a528
commit 900ea0d
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Showing 9 changed files with 13 additions and 15 deletions.
diff --git a/src/jaxsim/api/contact.py b/src/jaxsim/api/contact.py
@@ -130,7 +130,7 @@ def in_contact(
 def estimate_good_soft_contacts_parameters(
     model: js.model.JaxSimModel,
     *,
-    standard_gravity: jtp.FloatLike = jaxsim.rbda.StandardGravity,
+    standard_gravity: jtp.FloatLike = jaxsim.math.StandardGravity,
     static_friction_coefficient: jtp.FloatLike = 0.5,
     number_of_active_collidable_points_steady_state: jtp.IntLike = 1,
     damping_ratio: jtp.FloatLike = 1.0,

diff --git a/src/jaxsim/api/data.py b/src/jaxsim/api/data.py
@@ -91,7 +91,7 @@ def build(
         base_linear_velocity: jtp.Vector | None = None,
         base_angular_velocity: jtp.Vector | None = None,
         joint_velocities: jtp.Vector | None = None,
-        standard_gravity: jtp.FloatLike = jaxsim.rbda.StandardGravity,
+        standard_gravity: jtp.FloatLike = jaxsim.math.StandardGravity,
         soft_contacts_state: js.ode_data.SoftContactsState | None = None,
         soft_contacts_params: jaxsim.rbda.SoftContactsParams | None = None,
         velocity_representation: VelRepr = VelRepr.Inertial,

diff --git a/src/jaxsim/math/__init__.py b/src/jaxsim/math/__init__.py
@@ -1,3 +1,6 @@
+# Define the default standard gravity constant.
+StandardGravity = 9.81
+
 from .adjoint import Adjoint
 from .cross import Cross
 from .inertia import Inertia

diff --git a/src/jaxsim/rbda/__init__.py b/src/jaxsim/rbda/__init__.py
@@ -1,5 +1,3 @@
-StandardGravity = 9.81
-
 from .aba import aba
 from .collidable_points import collidable_points_pos_vel
 from .crba import crba

diff --git a/src/jaxsim/rbda/aba.py b/src/jaxsim/rbda/aba.py
@@ -4,9 +4,9 @@
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.math import Adjoint, Cross, Quaternion
+from jaxsim.math import Adjoint, Cross, Quaternion, StandardGravity
 
-from . import StandardGravity, utils
+from . import utils
 
 
 def aba(

diff --git a/src/jaxsim/rbda/rnea.py b/src/jaxsim/rbda/rnea.py
@@ -6,9 +6,9 @@
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.math import Adjoint, Cross, Quaternion
+from jaxsim.math import Adjoint, Cross, Quaternion, StandardGravity
 
-from . import StandardGravity, utils
+from . import utils
 
 
 def rnea(

diff --git a/src/jaxsim/rbda/soft_contacts.py b/src/jaxsim/rbda/soft_contacts.py
@@ -8,11 +8,9 @@
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.math import Skew
+from jaxsim.math import Skew, StandardGravity
 from jaxsim.terrain import FlatTerrain, Terrain
 
-from . import StandardGravity
-
 
 @jax_dataclasses.pytree_dataclass
 class SoftContactsParams:

diff --git a/src/jaxsim/rbda/utils.py b/src/jaxsim/rbda/utils.py
@@ -2,8 +2,7 @@
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-
-from . import StandardGravity
+from jaxsim.math import StandardGravity
 
 
 def process_inputs(

diff --git a/tests/test_automatic_differentiation.py b/tests/test_automatic_differentiation.py
@@ -66,7 +66,7 @@ def test_ad_aba(
     ε = jnp.finfo(jnp.array(0.0)).resolution ** (1 / 3)
 
     # Get the standard gravity constant.
-    g = jaxsim.rbda.StandardGravity
+    g = jaxsim.math.StandardGravity
 
     # State in VelRepr.Inertial representation.
     W_p_B = data.base_position()
@@ -123,7 +123,7 @@ def test_ad_rnea(
     ε = jnp.finfo(jnp.array(0.0)).resolution ** (1 / 3)
 
     # Get the standard gravity constant.
-    g = jaxsim.rbda.StandardGravity
+    g = jaxsim.math.StandardGravity
 
     # State in VelRepr.Inertial representation.
     W_p_B = data.base_position()