jaxsim 0.2.1.dev91__tar.gz → 0.2.1.dev98__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (118) hide show
  1. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/PKG-INFO +1 -1
  2. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/pyproject.toml +0 -3
  3. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/_version.py +2 -2
  4. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim.egg-info/PKG-INFO +1 -1
  5. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_com.py +1 -1
  6. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_data.py +3 -3
  7. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_frame.py +4 -4
  8. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_link.py +4 -4
  9. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_model.py +8 -9
  10. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_automatic_differentiation.py +8 -8
  11. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_contact.py +1 -1
  12. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/utils_idyntree.py +4 -7
  13. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.devcontainer/Dockerfile +0 -0
  14. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.devcontainer/devcontainer.json +0 -0
  15. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.gitattributes +0 -0
  16. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.github/CODEOWNERS +0 -0
  17. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.github/workflows/ci_cd.yml +0 -0
  18. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.github/workflows/read_the_docs.yml +0 -0
  19. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.github/workflows/style.yml +0 -0
  20. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.gitignore +0 -0
  21. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.pre-commit-config.yaml +0 -0
  22. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.readthedocs.yaml +0 -0
  23. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/CONTRIBUTING.md +0 -0
  24. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/LICENSE +0 -0
  25. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/README.md +0 -0
  26. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/Makefile +0 -0
  27. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/conf.py +0 -0
  28. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/guide/install.rst +0 -0
  29. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/index.rst +0 -0
  30. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/make.bat +0 -0
  31. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/api.rst +0 -0
  32. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/index.rst +0 -0
  33. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/integrators.rst +0 -0
  34. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/math.rst +0 -0
  35. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/mujoco.rst +0 -0
  36. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/parsers.rst +0 -0
  37. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/rbda.rst +0 -0
  38. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/typing.rst +0 -0
  39. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/modules/utils.rst +0 -0
  40. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/environment.yml +0 -0
  41. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/examples/.gitattributes +0 -0
  42. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/examples/.gitignore +0 -0
  43. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/examples/PD_controller.ipynb +0 -0
  44. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/examples/Parallel_computing.ipynb +0 -0
  45. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/examples/README.md +0 -0
  46. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/examples/assets/cartpole.urdf +0 -0
  47. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/pixi.lock +0 -0
  48. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/setup.cfg +0 -0
  49. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/setup.py +0 -0
  50. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/__init__.py +0 -0
  51. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/__init__.py +0 -0
  52. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/com.py +0 -0
  53. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/common.py +0 -0
  54. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/contact.py +0 -0
  55. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/data.py +0 -0
  56. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/frame.py +0 -0
  57. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/joint.py +0 -0
  58. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/kin_dyn_parameters.py +0 -0
  59. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/link.py +0 -0
  60. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/model.py +0 -0
  61. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/ode.py +0 -0
  62. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/ode_data.py +0 -0
  63. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/api/references.py +0 -0
  64. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/integrators/__init__.py +0 -0
  65. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/integrators/common.py +0 -0
  66. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/integrators/fixed_step.py +0 -0
  67. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/integrators/variable_step.py +0 -0
  68. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/logging.py +0 -0
  69. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/__init__.py +0 -0
  70. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/adjoint.py +0 -0
  71. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/cross.py +0 -0
  72. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/inertia.py +0 -0
  73. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/joint_model.py +0 -0
  74. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/quaternion.py +0 -0
  75. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/rotation.py +0 -0
  76. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/skew.py +0 -0
  77. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/math/transform.py +0 -0
  78. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/mujoco/__init__.py +0 -0
  79. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/mujoco/__main__.py +0 -0
  80. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/mujoco/loaders.py +0 -0
  81. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/mujoco/model.py +0 -0
  82. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/mujoco/visualizer.py +0 -0
  83. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/__init__.py +0 -0
  84. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  85. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  86. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  87. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/descriptions/link.py +0 -0
  88. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/descriptions/model.py +0 -0
  89. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  90. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/rod/__init__.py +0 -0
  91. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/rod/parser.py +0 -0
  92. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/parsers/rod/utils.py +0 -0
  93. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/__init__.py +0 -0
  94. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/aba.py +0 -0
  95. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/collidable_points.py +0 -0
  96. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/crba.py +0 -0
  97. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  98. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/jacobian.py +0 -0
  99. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/rnea.py +0 -0
  100. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/soft_contacts.py +0 -0
  101. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/rbda/utils.py +0 -0
  102. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/terrain/__init__.py +0 -0
  103. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/terrain/terrain.py +0 -0
  104. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/typing.py +0 -0
  105. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/utils/__init__.py +0 -0
  106. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  107. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/utils/tracing.py +0 -0
  108. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/utils/wrappers.py +0 -0
  109. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  110. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  111. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim.egg-info/not-zip-safe +0 -0
  112. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim.egg-info/requires.txt +0 -0
  113. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim.egg-info/top_level.txt +0 -0
  114. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/__init__.py +0 -0
  115. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/conftest.py +0 -0
  116. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_joint.py +0 -0
  117. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_pytree.py +0 -0
  118. {jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_simulations.py +0 -0
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: jaxsim
3
- Version: 0.2.1.dev91
3
+ Version: 0.2.1.dev98
4
4
  Home-page: https://github.com/ami-iit/jaxsim
5
5
  Author: Diego Ferigo
6
6
  Author-email: diego.ferigo@iit.it
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/pyproject.toml RENAMED
@@ -24,13 +24,10 @@ profile = "black"
24
24
  [tool.pytest.ini_options]
25
25
  addopts = "-rsxX -v --strict-markers"
26
26
  minversion = "6.0"
27
- preview = true
28
27
  testpaths = [
29
28
  "tests",
30
29
  ]
31
30
 
32
- target-version = "py311"
33
-
34
31
  [tool.ruff]
35
32
  exclude = [
36
33
  ".git",
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim/_version.py RENAMED
@@ -12,5 +12,5 @@ __version__: str
12
12
  __version_tuple__: VERSION_TUPLE
13
13
  version_tuple: VERSION_TUPLE
14
14
 
15
- __version__ = version = '0.2.1.dev91'
16
- __version_tuple__ = version_tuple = (0, 2, 1, 'dev91')
15
+ __version__ = version = '0.2.1.dev98'
16
+ __version_tuple__ = version_tuple = (0, 2, 1, 'dev98')
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/src/jaxsim.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: jaxsim
3
- Version: 0.2.1.dev91
3
+ Version: 0.2.1.dev98
4
4
  Home-page: https://github.com/ami-iit/jaxsim
5
5
  Author: Diego Ferigo
6
6
  Author-email: diego.ferigo@iit.it
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_com.py RENAMED
@@ -15,7 +15,7 @@ def test_com_properties(
15
15
 
16
16
  model = jaxsim_models_types
17
17
 
18
- key, subkey = jax.random.split(prng_key, num=2)
18
+ _, subkey = jax.random.split(prng_key, num=2)
19
19
  data = js.data.random_model_data(
20
20
  model=model, key=subkey, velocity_representation=velocity_representation
21
21
  )
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_data.py RENAMED
@@ -27,7 +27,7 @@ def test_data_joint_indexing(
27
27
 
28
28
  model = jaxsim_models_types
29
29
 
30
- key, subkey = jax.random.split(prng_key, num=2)
30
+ _, subkey = jax.random.split(prng_key, num=2)
31
31
  data = js.data.random_model_data(
32
32
  model=model, key=subkey, velocity_representation=velocity_representation
33
33
  )
@@ -56,7 +56,7 @@ def test_data_switch_velocity_representation(
56
56
 
57
57
  model = jaxsim_models_types
58
58
 
59
- key, subkey = jax.random.split(prng_key, num=2)
59
+ _, subkey = jax.random.split(prng_key, num=2)
60
60
  data = js.data.random_model_data(
61
61
  model=model, key=subkey, velocity_representation=VelRepr.Inertial
62
62
  )
@@ -98,7 +98,7 @@ def test_data_change_velocity_representation(
98
98
 
99
99
  model = jaxsim_models_types
100
100
 
101
- key, subkey = jax.random.split(prng_key, num=2)
101
+ _, subkey = jax.random.split(prng_key, num=2)
102
102
  data = js.data.random_model_data(
103
103
  model=model, key=subkey, velocity_representation=VelRepr.Inertial
104
104
  )
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_frame.py RENAMED
@@ -46,7 +46,7 @@ def test_frame_transforms(
46
46
 
47
47
  model = jaxsim_models_types
48
48
 
49
- key, subkey = jax.random.split(prng_key, num=2)
49
+ _, subkey = jax.random.split(prng_key, num=2)
50
50
  data = js.data.random_model_data(
51
51
  model=model, key=subkey, velocity_representation=VelRepr.Inertial
52
52
  )
@@ -82,7 +82,7 @@ def test_frame_transforms(
82
82
 
83
83
  assert len(frame_indices) == len(frame_names)
84
84
 
85
- for frame_name, frame_idx in zip(frame_names, frame_indices):
85
+ for frame_name in frame_names:
86
86
 
87
87
  W_H_F_js = js.frame.transform(
88
88
  model=model,
@@ -101,7 +101,7 @@ def test_frame_jacobians(
101
101
 
102
102
  model = jaxsim_models_types
103
103
 
104
- key, subkey = jax.random.split(prng_key, num=2)
104
+ _, subkey = jax.random.split(prng_key, num=2)
105
105
  data = js.data.random_model_data(
106
106
  model=model, key=subkey, velocity_representation=velocity_representation
107
107
  )
@@ -119,7 +119,7 @@ def test_frame_jacobians(
119
119
 
120
120
  # Lower the number of frames for models with many frames.
121
121
  if model.name().lower() == "ergocub":
122
- assert any(["sole" in name for name in frame_names])
122
+ assert any("sole" in name for name in frame_names)
123
123
  frame_names = [name for name in frame_names if "sole" in name]
124
124
 
125
125
  # Get indices of frames.
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_link.py RENAMED
@@ -46,7 +46,7 @@ def test_link_inertial_properties(
46
46
 
47
47
  model = jaxsim_models_types
48
48
 
49
- key, subkey = jax.random.split(prng_key, num=2)
49
+ _, subkey = jax.random.split(prng_key, num=2)
50
50
  data = js.data.random_model_data(
51
51
  model=model,
52
52
  key=subkey,
@@ -84,7 +84,7 @@ def test_link_transforms(
84
84
 
85
85
  model = jaxsim_models_types
86
86
 
87
- key, subkey = jax.random.split(prng_key, num=2)
87
+ _, subkey = jax.random.split(prng_key, num=2)
88
88
  data = js.data.random_model_data(
89
89
  model=model,
90
90
  key=subkey,
@@ -122,7 +122,7 @@ def test_link_jacobians(
122
122
 
123
123
  model = jaxsim_models_types
124
124
 
125
- key, subkey = jax.random.split(prng_key, num=2)
125
+ _, subkey = jax.random.split(prng_key, num=2)
126
126
  data = js.data.random_model_data(
127
127
  model=model,
128
128
  key=subkey,
@@ -168,7 +168,7 @@ def test_link_bias_acceleration(
168
168
 
169
169
  model = jaxsim_models_types
170
170
 
171
- key, subkey = jax.random.split(prng_key, num=2)
171
+ _, subkey = jax.random.split(prng_key, num=2)
172
172
  data = js.data.random_model_data(
173
173
  model=model,
174
174
  key=subkey,
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_api_model.py RENAMED
@@ -19,7 +19,7 @@ def test_model_creation_and_reduction(
19
19
 
20
20
  model_full = jaxsim_model_ergocub
21
21
 
22
- key, subkey = jax.random.split(prng_key, num=2)
22
+ _, subkey = jax.random.split(prng_key, num=2)
23
23
  data_full = js.data.random_model_data(
24
24
  model=model_full,
25
25
  key=subkey,
@@ -77,15 +77,14 @@ def test_model_creation_and_reduction(
77
77
  model_reduced = js.model.reduce(
78
78
  model=model_full,
79
79
  considered_joints=reduced_joints,
80
- locked_joint_positions={
81
- name: pos
82
- for name, pos in zip(
80
+ locked_joint_positions=dict(
81
+ zip(
83
82
  model_full.joint_names(),
84
83
  data_full.joint_positions(
85
84
  model=model_full, joint_names=model_full.joint_names()
86
85
  ).tolist(),
87
86
  )
88
- },
87
+ ),
89
88
  )
90
89
 
91
90
  # Check DoFs.
@@ -156,7 +155,7 @@ def test_model_properties(
156
155
 
157
156
  model = jaxsim_models_types
158
157
 
159
- key, subkey = jax.random.split(prng_key, num=2)
158
+ _, subkey = jax.random.split(prng_key, num=2)
160
159
  data = js.data.random_model_data(
161
160
  model=model, key=subkey, velocity_representation=velocity_representation
162
161
  )
@@ -202,7 +201,7 @@ def test_model_rbda(
202
201
 
203
202
  model = jaxsim_models_types
204
203
 
205
- key, subkey = jax.random.split(prng_key, num=2)
204
+ _, subkey = jax.random.split(prng_key, num=2)
206
205
  data = js.data.random_model_data(
207
206
  model=model, key=subkey, velocity_representation=velocity_representation
208
207
  )
@@ -265,7 +264,7 @@ def test_model_jacobian(
265
264
  # =====
266
265
 
267
266
  # Create random references (joint torques and link forces)
268
- key, subkey1, subkey2 = jax.random.split(key, num=3)
267
+ _, subkey1, subkey2 = jax.random.split(key, num=3)
269
268
  references = js.references.JaxSimModelReferences.build(
270
269
  model=model,
271
270
  joint_force_references=10 * jax.random.uniform(subkey1, shape=(model.dofs(),)),
@@ -335,7 +334,7 @@ def test_model_fd_id_consistency(
335
334
  # =====
336
335
 
337
336
  # Create random references (joint torques and link forces)
338
- key, subkey1, subkey2 = jax.random.split(key, num=3)
337
+ _, subkey1, subkey2 = jax.random.split(key, num=3)
339
338
  references = js.references.JaxSimModelReferences.build(
340
339
  model=model,
341
340
  joint_force_references=10 * jax.random.uniform(subkey1, shape=(model.dofs(),)),
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_automatic_differentiation.py RENAMED
@@ -35,7 +35,7 @@ def get_random_data_and_references(
35
35
  model=model, key=subkey, velocity_representation=velocity_representation
36
36
  )
37
37
 
38
- key, subkey1, subkey2 = jax.random.split(key, num=3)
38
+ _, subkey1, subkey2 = jax.random.split(key, num=3)
39
39
 
40
40
  references = js.references.JaxSimModelReferences.build(
41
41
  model=model,
@@ -65,7 +65,7 @@ def test_ad_aba(
65
65
 
66
66
  model = jaxsim_models_types
67
67
 
68
- key, subkey = jax.random.split(prng_key, num=2)
68
+ _, subkey = jax.random.split(prng_key, num=2)
69
69
  data, references = get_random_data_and_references(
70
70
  model=model, velocity_representation=VelRepr.Inertial, key=subkey
71
71
  )
@@ -141,7 +141,7 @@ def test_ad_rnea(
141
141
  # Test
142
142
  # ====
143
143
 
144
- key, subkey1, subkey2 = jax.random.split(key, num=3)
144
+ _, subkey1, subkey2 = jax.random.split(key, num=3)
145
145
  W_v̇_WB = jax.random.uniform(subkey1, shape=(6,), minval=-1)
146
146
  s̈ = jax.random.uniform(subkey2, shape=(model.dofs(),), minval=-1)
147
147
 
@@ -178,7 +178,7 @@ def test_ad_crba(
178
178
 
179
179
  model = jaxsim_models_types
180
180
 
181
- key, subkey = jax.random.split(prng_key, num=2)
181
+ _, subkey = jax.random.split(prng_key, num=2)
182
182
  data, references = get_random_data_and_references(
183
183
  model=model, velocity_representation=VelRepr.Inertial, key=subkey
184
184
  )
@@ -210,7 +210,7 @@ def test_ad_fk(
210
210
 
211
211
  model = jaxsim_models_types
212
212
 
213
- key, subkey = jax.random.split(prng_key, num=2)
213
+ _, subkey = jax.random.split(prng_key, num=2)
214
214
  data, references = get_random_data_and_references(
215
215
  model=model, velocity_representation=VelRepr.Inertial, key=subkey
216
216
  )
@@ -249,7 +249,7 @@ def test_ad_jacobian(
249
249
 
250
250
  model = jaxsim_models_types
251
251
 
252
- key, subkey = jax.random.split(prng_key, num=2)
252
+ _, subkey = jax.random.split(prng_key, num=2)
253
253
  data, references = get_random_data_and_references(
254
254
  model=model, velocity_representation=VelRepr.Inertial, key=subkey
255
255
  )
@@ -288,7 +288,7 @@ def test_ad_soft_contacts(
288
288
 
289
289
  model = jaxsim_models_types
290
290
 
291
- key, subkey1, subkey2, subkey3 = jax.random.split(prng_key, num=4)
291
+ _, subkey1, subkey2, subkey3 = jax.random.split(prng_key, num=4)
292
292
  p = jax.random.uniform(subkey1, shape=(3,), minval=-1)
293
293
  v = jax.random.uniform(subkey2, shape=(3,), minval=-1)
294
294
  m = jax.random.uniform(subkey3, shape=(3,), minval=-1)
@@ -330,7 +330,7 @@ def test_ad_integration(
330
330
 
331
331
  model = jaxsim_models_types
332
332
 
333
- key, subkey = jax.random.split(prng_key, num=2)
333
+ _, subkey = jax.random.split(prng_key, num=2)
334
334
  data, references = get_random_data_and_references(
335
335
  model=model, velocity_representation=VelRepr.Inertial, key=subkey
336
336
  )
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/test_contact.py RENAMED
@@ -13,7 +13,7 @@ def test_collidable_point_jacobians(
13
13
 
14
14
  model = jaxsim_models_types
15
15
 
16
- key, subkey = jax.random.split(prng_key, num=2)
16
+ _, subkey = jax.random.split(prng_key, num=2)
17
17
  data = js.data.random_model_data(
18
18
  model=model, key=subkey, velocity_representation=velocity_representation
19
19
  )
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/tests/utils_idyntree.py RENAMED
@@ -60,13 +60,12 @@ def build_kindyncomputations_from_jaxsim_model(
60
60
  removed_joint_positions = removed_joint_positions_default | (
61
61
  removed_joint_positions
62
62
  if removed_joint_positions is not None
63
- else {
64
- name: pos
65
- for name, pos in zip(
63
+ else dict(
64
+ zip(
66
65
  model.joint_names(),
67
66
  data.joint_positions(model=model, joint_names=model.joint_names()),
68
67
  )
69
- }
68
+ )
70
69
  )
71
70
 
72
71
  # Create the KinDynComputations from the same URDF model.
@@ -127,9 +126,7 @@ class KinDynComputations:
127
126
  urdf: pathlib.Path | str,
128
127
  considered_joints: list[str] = None,
129
128
  vel_repr: VelRepr = VelRepr.Inertial,
130
- gravity: npt.NDArray = dataclasses.field(
131
- default_factory=lambda: np.array([0, 0, -10.0])
132
- ),
129
+ gravity: npt.NDArray = np.array([0, 0, -10.0]),
133
130
  removed_joint_positions: dict[str, npt.NDArray | float | int] | None = None,
134
131
  ) -> KinDynComputations:
135
132
 
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/.gitignore RENAMED
File without changes
{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/LICENSE RENAMED
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{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/README.md RENAMED
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{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/Makefile RENAMED
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{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/conf.py RENAMED
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{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/docs/make.bat RENAMED
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{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/pixi.lock RENAMED
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{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/setup.cfg RENAMED
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{jaxsim-0.2.1.dev91 → jaxsim-0.2.1.dev98}/setup.py RENAMED
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