jaxsim 0.1rc0__py3-none-any.whl → 0.2.0__py3-none-any.whl

jaxsim-0.1rc0.dist-info/METADATA

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-Metadata-Version: 2.1
-Name: jaxsim
-Version: 0.1rc0
-Summary: A physics engine in reduced coordinates implemented with JAX.
-Home-page: https://github.com/ami-iit/jaxsim
-Author: Diego Ferigo
-Author-email: diego.ferigo@iit.it
-License: BSD
-Project-URL: Changelog, https://github.com/ami-iit/jaxsim/releases
-Project-URL: Source, https://github.com/ami-iit/jaxsim
-Project-URL: Tracker, https://github.com/ami-iit/jaxsim/issues
-Keywords: physics,physics engine,jax,rigid body dynamics,featherstone,reinforcement learning,robot,robotics,sdf,urdf
-Platform: any
-Classifier: Development Status :: 4 - Beta
-Classifier: Framework :: Robot Framework
-Classifier: Intended Audience :: Developers
-Classifier: Intended Audience :: Science/Research
-Classifier: License :: OSI Approved :: BSD License
-Classifier: Operating System :: POSIX :: Linux
-Classifier: Operating System :: MacOS
-Classifier: Operating System :: Microsoft
-Classifier: Programming Language :: Python :: 3.11
-Classifier: Programming Language :: Python :: 3.12
-Classifier: Programming Language :: Python :: 3 :: Only
-Classifier: Programming Language :: Python :: Implementation :: CPython
-Classifier: Topic :: Games/Entertainment :: Simulation
-Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
-Classifier: Topic :: Scientific/Engineering :: Physics
-Classifier: Topic :: Software Development
-Requires-Python: >=3.11
-Description-Content-Type: text/markdown
-License-File: LICENSE
-Requires-Dist: coloredlogs
-Requires-Dist: jax >=0.4.13
-Requires-Dist: jaxlib
-Requires-Dist: jaxlie >=1.3.0
-Requires-Dist: jax-dataclasses >=1.4.0
-Requires-Dist: pptree
-Requires-Dist: rod
-Provides-Extra: all
-Requires-Dist: black ; extra == 'all'
-Requires-Dist: isort ; extra == 'all'
-Requires-Dist: idyntree ; extra == 'all'
-Requires-Dist: pytest >=6.0 ; extra == 'all'
-Requires-Dist: pytest-forked ; extra == 'all'
-Requires-Dist: pytest-icdiff ; extra == 'all'
-Requires-Dist: robot-descriptions ; extra == 'all'
-Provides-Extra: style
-Requires-Dist: black ; extra == 'style'
-Requires-Dist: isort ; extra == 'style'
-Provides-Extra: testing
-Requires-Dist: idyntree ; extra == 'testing'
-Requires-Dist: pytest >=6.0 ; extra == 'testing'
-Requires-Dist: pytest-forked ; extra == 'testing'
-Requires-Dist: pytest-icdiff ; extra == 'testing'
-Requires-Dist: robot-descriptions ; extra == 'testing'
-
-# JAXsim
-
-**A scalable physics engine and multibody dynamics library implemented with JAX. With JIT batteries 🔋**
-
-> [!WARNING]
-> This project is still experimental, APIs could change without notice.
-
-> [!NOTE]
-> This simulator currently focuses on locomotion applications. Only contacts with ground are supported.
-
-## Features
-
-- Physics engine in reduced coordinates implemented with [JAX][jax] in Python.
-- JIT compilation of Python code for increased performance.
-- Transparent support to execute logic on CPUs, GPUs, and TPUs.
-- Parallel multi-body simulations on hardware accelerators for significantly increased throughput.
-- Support for SDF models (and, upon conversion, URDF models).
-- Collision detection between bodies and uneven ground surface.
-- Soft contacts model supporting full friction cone and sticking / slipping transition.
-- Complete support for inertial properties of rigid bodies.
-- Revolute, prismatic, and fixed joints support.
-- Integrators: forward Euler, semi-implicit Euler, Runge-Kutta 4.
-- High-level classes for object-oriented programming.
-- High-level classes to compute multi-body dynamics quantities from the simulation state.
-- High-level classes wrapping the low-level functional RBDAs with support of [multiple velocities representations][notation].
-- Default validation of JAX pytrees to prevent JIT re-compilations.
-- Preliminary support for automatic differentiation of RBDAs.
-
-[jax]: https://github.com/google/jax/
-[notation]: https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2
-
-## Documentation
-
-The JAXsim API documentation is available at [jaxsim.readthedocs.io](https://jaxsim.readthedocs.io/).
-
-## Installation
-
-You can install the project with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
-
-```bash
-pip install jaxsim
-```
-
-Check [`setup.cfg`](setup.cfg) for the complete list of optional dependencies.
-Install all of them with `jaxsim[all]`.
-
-**Note:** For GPU support, follow the official [installation instruction][jax_gpu] of JAX.
-
-[pip]: https://github.com/pypa/pip/
-[venv]: https://docs.python.org/3/tutorial/venv.html
-[jax_gpu]: https://github.com/google/jax/#installation
-
-## Quickstart
-
-Explore and learn how to use the library through practical demonstrations available in the [examples](./examples) folder.
-
-## Credits
-
-The physics module of JAXsim is based on the theory of the [Rigid Body Dynamics Algorithms][RBDA]
-book by Roy Featherstone.
-We structured part of our logic following its accompanying [code][spatial_v2].
-The physics engine is developed entirely in Python using [JAX][jax].
-
-[RBDA]: https://link.springer.com/book/10.1007/978-1-4899-7560-7
-[spatial_v2]: http://royfeatherstone.org/spatial/index.html#spatial-software
-
-The inspiration for developing JAXsim originally stemmed from early versions of [`google/brax`][brax].
-Here below we summarize the differences between the projects:
-
-- JAXsim simulates multibody dynamics in reduced coordinates, while brax v1 uses maximal coordinates.
-- The new v2 APIs of brax (and the new [MJX][mjx]) were then implemented in reduced coordinates, following an approach comparable to JAXsim, with major differences in contact handling.
-- The rigid-body algorithms used in JAXsim allow to efficiently compute quantities based on the Euler-Poincarè
-  formulation of the equations of motion, necessary for model-based robotics research.
-- JAXsim supports SDF (and, indirectly, URDF) models, assuming the model is described with the
-  recent [Pose Frame Semantics][PFS].
-- Contrarily to brax, JAXsim only supports collision detection between bodies and a compliant ground surface.
-- The RBDAs of JAXsim support automatic differentiation, but this functionality has not been thoroughly tested.
-
-[brax]: https://github.com/google/brax
-[mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html
-[PFS]: http://sdformat.org/tutorials?tut=pose_frame_semantics
-
-## Contributing
-
-Pull requests are welcome. 
-For major changes, please open an issue first to discuss what you would like to change.
-
-## Citing
-
-```bibtex
-@software{ferigo_jaxsim_2022,
-  author = {Diego Ferigo and Silvio Traversaro and Daniele Pucci},
-  title = {{JAXsim}: A Physics Engine in Reduced Coordinates and Multibody Dynamics Library for Control and Robot Learning},
-  url = {http://github.com/ami-iit/jaxsim},
-  year = {2022},
-}
-```
-
-## People
-
-| Author | Maintainers |
-|:------:|:-----------:|
-| [<img src="https://avatars.githubusercontent.com/u/469199?v=4" width="40">][df] | [<img src="https://avatars.githubusercontent.com/u/102977828?v=4" width="40">][ff] [<img src="https://avatars.githubusercontent.com/u/469199?v=4" width="40">][df] |
-
-[df]: https://github.com/diegoferigo
-[ff]: https://github.com/flferretti
-
-## License
-
-[BSD3](https://choosealicense.com/licenses/bsd-3-clause/)

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