jaxsim 0.2.1.dev91__tar.gz → 0.2.1.dev101__tar.gz

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.1.dev91
+Version: 0.2.1.dev101
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/pyproject.toml

@@ -24,13 +24,10 @@ profile = "black"
 [tool.pytest.ini_options]
 addopts = "-rsxX -v --strict-markers"
 minversion = "6.0"
-preview = true
 testpaths = [
   "tests",
 ]
 
-target-version = "py311"
-
 [tool.ruff]
 exclude = [
   ".git",

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.1.dev91'
-__version_tuple__ = version_tuple = (0, 2, 1, 'dev91')
+__version__ = version = '0.2.1.dev101'
+__version_tuple__ = version_tuple = (0, 2, 1, 'dev101')

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/src/jaxsim/api/model.py

@@ -338,6 +338,7 @@ def reduce(
     reduced_model = JaxSimModel.build(
         model_description=reduced_intermediate_description,
         model_name=model.name(),
+        terrain=model.terrain,
     )
 
     # Store the origin of the model, in case downstream logic needs it

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.1.dev91
+Version: 0.2.1.dev101
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/test_api_com.py

@@ -15,7 +15,7 @@ def test_com_properties(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=velocity_representation
     )

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/test_api_data.py

@@ -27,7 +27,7 @@ def test_data_joint_indexing(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=velocity_representation
     )
@@ -56,7 +56,7 @@ def test_data_switch_velocity_representation(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=VelRepr.Inertial
     )
@@ -98,7 +98,7 @@ def test_data_change_velocity_representation(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=VelRepr.Inertial
     )

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/test_api_frame.py

@@ -46,7 +46,7 @@ def test_frame_transforms(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=VelRepr.Inertial
     )
@@ -82,7 +82,7 @@ def test_frame_transforms(
 
     assert len(frame_indices) == len(frame_names)
 
-    for frame_name, frame_idx in zip(frame_names, frame_indices):
+    for frame_name in frame_names:
 
         W_H_F_js = js.frame.transform(
             model=model,
@@ -101,7 +101,7 @@ def test_frame_jacobians(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=velocity_representation
     )
@@ -119,7 +119,7 @@ def test_frame_jacobians(
 
     # Lower the number of frames for models with many frames.
     if model.name().lower() == "ergocub":
-        assert any(["sole" in name for name in frame_names])
+        assert any("sole" in name for name in frame_names)
         frame_names = [name for name in frame_names if "sole" in name]
 
     # Get indices of frames.

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/test_api_link.py

@@ -46,7 +46,7 @@ def test_link_inertial_properties(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model,
         key=subkey,
@@ -84,7 +84,7 @@ def test_link_transforms(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model,
         key=subkey,
@@ -122,7 +122,7 @@ def test_link_jacobians(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model,
         key=subkey,
@@ -168,7 +168,7 @@ def test_link_bias_acceleration(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model,
         key=subkey,

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/test_api_model.py

@@ -19,7 +19,7 @@ def test_model_creation_and_reduction(
 
     model_full = jaxsim_model_ergocub
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data_full = js.data.random_model_data(
         model=model_full,
         key=subkey,
@@ -77,15 +77,14 @@ def test_model_creation_and_reduction(
     model_reduced = js.model.reduce(
         model=model_full,
         considered_joints=reduced_joints,
-        locked_joint_positions={
-            name: pos
-            for name, pos in zip(
+        locked_joint_positions=dict(
+            zip(
                 model_full.joint_names(),
                 data_full.joint_positions(
                     model=model_full, joint_names=model_full.joint_names()
                 ).tolist(),
             )
-        },
+        ),
     )
 
     # Check DoFs.
@@ -94,6 +93,9 @@ def test_model_creation_and_reduction(
     # Check that all non-fixed joints are in the reduced model.
     assert set(reduced_joints) == set(model_reduced.joint_names())
 
+    # Check that the reduce model maintain the same terrain of the full model.
+    assert model_full.terrain == model_reduced.terrain
+
     # Build the data of the reduced model.
     data_reduced = js.data.JaxSimModelData.build(
         model=model_reduced,
@@ -156,7 +158,7 @@ def test_model_properties(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=velocity_representation
     )
@@ -202,7 +204,7 @@ def test_model_rbda(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=velocity_representation
     )
@@ -265,7 +267,7 @@ def test_model_jacobian(
     # =====
 
     # Create random references (joint torques and link forces)
-    key, subkey1, subkey2 = jax.random.split(key, num=3)
+    _, subkey1, subkey2 = jax.random.split(key, num=3)
     references = js.references.JaxSimModelReferences.build(
         model=model,
         joint_force_references=10 * jax.random.uniform(subkey1, shape=(model.dofs(),)),
@@ -335,7 +337,7 @@ def test_model_fd_id_consistency(
     # =====
 
     # Create random references (joint torques and link forces)
-    key, subkey1, subkey2 = jax.random.split(key, num=3)
+    _, subkey1, subkey2 = jax.random.split(key, num=3)
     references = js.references.JaxSimModelReferences.build(
         model=model,
         joint_force_references=10 * jax.random.uniform(subkey1, shape=(model.dofs(),)),

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/test_automatic_differentiation.py

@@ -35,7 +35,7 @@ def get_random_data_and_references(
         model=model, key=subkey, velocity_representation=velocity_representation
     )
 
-    key, subkey1, subkey2 = jax.random.split(key, num=3)
+    _, subkey1, subkey2 = jax.random.split(key, num=3)
 
     references = js.references.JaxSimModelReferences.build(
         model=model,
@@ -65,7 +65,7 @@ def test_ad_aba(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data, references = get_random_data_and_references(
         model=model, velocity_representation=VelRepr.Inertial, key=subkey
     )
@@ -141,7 +141,7 @@ def test_ad_rnea(
     # Test
     # ====
 
-    key, subkey1, subkey2 = jax.random.split(key, num=3)
+    _, subkey1, subkey2 = jax.random.split(key, num=3)
     W_v̇_WB = jax.random.uniform(subkey1, shape=(6,), minval=-1)
     s̈ = jax.random.uniform(subkey2, shape=(model.dofs(),), minval=-1)
 
@@ -178,7 +178,7 @@ def test_ad_crba(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data, references = get_random_data_and_references(
         model=model, velocity_representation=VelRepr.Inertial, key=subkey
     )
@@ -210,7 +210,7 @@ def test_ad_fk(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data, references = get_random_data_and_references(
         model=model, velocity_representation=VelRepr.Inertial, key=subkey
     )
@@ -249,7 +249,7 @@ def test_ad_jacobian(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data, references = get_random_data_and_references(
         model=model, velocity_representation=VelRepr.Inertial, key=subkey
     )
@@ -288,7 +288,7 @@ def test_ad_soft_contacts(
 
     model = jaxsim_models_types
 
-    key, subkey1, subkey2, subkey3 = jax.random.split(prng_key, num=4)
+    _, subkey1, subkey2, subkey3 = jax.random.split(prng_key, num=4)
     p = jax.random.uniform(subkey1, shape=(3,), minval=-1)
     v = jax.random.uniform(subkey2, shape=(3,), minval=-1)
     m = jax.random.uniform(subkey3, shape=(3,), minval=-1)
@@ -330,7 +330,7 @@ def test_ad_integration(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data, references = get_random_data_and_references(
         model=model, velocity_representation=VelRepr.Inertial, key=subkey
     )

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/test_contact.py

@@ -13,7 +13,7 @@ def test_collidable_point_jacobians(
 
     model = jaxsim_models_types
 
-    key, subkey = jax.random.split(prng_key, num=2)
+    _, subkey = jax.random.split(prng_key, num=2)
     data = js.data.random_model_data(
         model=model, key=subkey, velocity_representation=velocity_representation
     )

{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev101}/tests/utils_idyntree.py

@@ -60,13 +60,12 @@ def build_kindyncomputations_from_jaxsim_model(
     removed_joint_positions = removed_joint_positions_default | (
         removed_joint_positions
         if removed_joint_positions is not None
-        else {
-            name: pos
-            for name, pos in zip(
+        else dict(
+            zip(
                 model.joint_names(),
                 data.joint_positions(model=model, joint_names=model.joint_names()),
             )
-        }
+        )
     )
 
     # Create the KinDynComputations from the same URDF model.
@@ -127,9 +126,7 @@ class KinDynComputations:
         urdf: pathlib.Path | str,
         considered_joints: list[str] = None,
         vel_repr: VelRepr = VelRepr.Inertial,
-        gravity: npt.NDArray = dataclasses.field(
-            default_factory=lambda: np.array([0, 0, -10.0])
-        ),
+        gravity: npt.NDArray = np.array([0, 0, -10.0]),
         removed_joint_positions: dict[str, npt.NDArray | float | int] | None = None,
     ) -> KinDynComputations: