jaxsim 0.2.dev191__tar.gz → 0.6.1.dev2__tar.gz

jaxsim-0.6.1.dev2/.devcontainer/Dockerfile

@@ -0,0 +1,19 @@
+# syntax=docker/dockerfile:1.4
+FROM mcr.microsoft.com/devcontainers/base:jammy
+
+ARG PROJECT_NAME=jaxsim
+ARG PIXI_VERSION=v0.35.0
+
+RUN curl -o /usr/local/bin/pixi -SL https://github.com/prefix-dev/pixi/releases/download/${PIXI_VERSION}/pixi-$(uname -m)-unknown-linux-musl \
+    && chmod +x /usr/local/bin/pixi \
+    && pixi info
+
+# Add LFS repository and install.
+RUN apt-get update && apt-get install -y curl \
+    && curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash \
+    && apt install -y git-lfs
+
+USER vscode
+WORKDIR /home/vscode
+
+RUN echo 'eval "$(pixi completion -s bash)"' >> /home/vscode/.bashrc

jaxsim-0.6.1.dev2/.devcontainer/devcontainer.json

@@ -0,0 +1,51 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+	"name": "Ubuntu",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"build": {
+		"context": "..",
+		"dockerfile": "Dockerfile"
+	},
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+        "ghcr.io/devcontainers/features/docker-in-docker:2": {}
+    },
+
+    // Put `.pixi` folder in a mounted volume of a case-insensitive filesystem.
+    "mounts": ["source=${localWorkspaceFolderBasename}-pixi,target=${containerWorkspaceFolder}/.pixi,type=volume"],
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	"postCreateCommand": "sudo chown vscode .pixi && git lfs pull --include='pixi.lock' && pixi install --environment=test-cpu",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+
+	// VSCode extensions
+	"customizations": {
+		"vscode": {
+			"settings": {
+                		"python.pythonPath": "/workspaces/jaxsim/.pixi/envs/test-cpu/bin/python",
+				"python.defaultInterpreterPath": "/workspaces/jaxsim/.pixi/envs/test-cpu/bin/python",
+				"python.terminal.activateEnvironment": true,
+				"python.terminal.activateEnvInCurrentTerminal": true
+			},
+			"extensions": [
+				"ms-python.python",
+				"donjayamanne.python-extension-pack",
+				"ms-toolsai.jupyter",
+				"GitHub.codespaces",
+                		"GitHub.copilot",
+				"ms-azuretools.vscode-docker",
+                		"charliermarsh.ruff"
+			]
+		}
+	}
+}

jaxsim-0.6.1.dev2/.gitattributes

@@ -0,0 +1,2 @@
+# GitHub syntax highlighting
+pixi.lock filter=lfs diff=lfs merge=lfs -text

jaxsim-0.6.1.dev2/.github/CODEOWNERS

@@ -0,0 +1 @@
+*       @flferretti @xela-95

jaxsim-0.6.1.dev2/.github/dependabot.yml

@@ -0,0 +1,15 @@
+version: 2
+updates:
+
+  # Check for updates to GitHub Actions every month.
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: monthly
+    # Disable rebasing automatically existing pull requests.
+    rebase-strategy: "disabled"
+    # Group updates to a single PR.
+    groups:
+      dependencies:
+        patterns:
+          - '*'

{jaxsim-0.2.dev191 → jaxsim-0.6.1.dev2}/.github/workflows/ci_cd.yml

@@ -8,8 +8,7 @@ on:
     types:
       - published
   schedule:
-  # * is a special character in YAML so you have to quote this string
-  # Execute a "nightly" build at 2 AM UTC
+  # Execute a nightly build at 2am UTC.
   - cron:  '0 2 * * *'
 
 
@@ -21,12 +20,12 @@ jobs:
 
     steps:
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: "3.11"
 
@@ -46,7 +45,7 @@ jobs:
         run: twine check dist/*
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           path: dist/*
           name: dist
@@ -63,18 +62,19 @@ jobs:
           - macos-latest
           - windows-latest
         python:
+          - "3.10"
           - "3.11"
           - "3.12"
 
     steps:
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python }}
 
       - name: Download Python packages
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           path: dist
           name: dist
@@ -92,35 +92,66 @@ jobs:
       - name: Document installed pip packages
         shell: bash
         run: pip list --verbose
-      
+
       - name: Import the package
         run: python -c "import jaxsim"
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
-      - name: Install Gazebo Classic
-        if: contains(matrix.os, 'ubuntu')
+      - uses: dorny/paths-filter@v3
+        id: changes
+        with:
+          filters: |
+            conf: &conf
+              - 'pyproject.toml'
+              - 'setup.cfg'
+              - 'setup.py'
+            src: &src
+              - 'src/**'
+            tests: &tests
+              - 'tests/**'
+            all:
+              - *conf
+              - *src
+              - *tests
+
+      - name: Install 'gz sdf' system command
+        if: |
+          contains(matrix.os, 'ubuntu') &&
+          (github.event_name != 'pull_request' ||
+           steps.changes.outputs.all == 'true')
         run: |
           sudo apt-get update
-          sudo apt-get install gazebo
+          sudo apt-get install lsb-release wget gnupg
+          sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+          sudo apt-get update
+          sudo apt-get install --no-install-recommends libsdformat13 gz-tools2
 
       - name: Run the Python tests
-        if: contains(matrix.os, 'ubuntu')
+        if: |
+          contains(matrix.os, 'ubuntu') &&
+          (github.event_name != 'pull_request' ||
+           steps.changes.outputs.all == 'true')
         run: pytest
         env:
+          # https://github.com/pytest-dev/pytest/issues/7443#issuecomment-656642591
+          PY_COLORS: "1"
           JAX_PLATFORM_NAME: cpu
 
   publish:
     name: Publish to PyPI
     needs: test
     runs-on: ubuntu-22.04
+    permissions:
+        id-token: write
 
     steps:
 
       - name: Download Python packages
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           path: dist
           name: dist
@@ -135,6 +166,4 @@ jobs:
            (github.event_name == 'release'))
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          user: __token__
-          password: ${{ secrets.PYPI_TOKEN }}
-          skip_existing: true
+          skip-existing: true

jaxsim-0.6.1.dev2/.github/workflows/pixi.yml

@@ -0,0 +1,57 @@
+name: Pixi
+
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    # Execute at 5am UTC on the first day of the month.
+    - cron: '0 5 1 * *'
+
+jobs:
+
+  pixi-update:
+    runs-on: ubuntu-24.04
+
+    steps:
+
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+
+      - name: Set up pixi
+        uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          run-install: false
+
+      - name: Install pixi-diff-to-markdown
+        run: pixi global install pixi-diff-to-markdown
+
+      - name: Update pixi lockfile and generate diff
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown --explicit-column > diff.md
+
+      - name: Test project against updated pixi
+        run: pixi run --environment tasks-cpu test
+        env:
+          PY_COLORS: "1"
+          JAX_PLATFORM_NAME: cpu
+
+      - name: Commit and push changes
+        run: echo "BRANCH_NAME=update-pixi-$(date +'%Y%m%d%H%M%S')" >> $GITHUB_ENV
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v7
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: Update `pixi.lock`
+          title: Update `pixi` lockfile
+          body-path: diff.md
+          branch: ${{ env.BRANCH_NAME }}
+          base: main
+          labels: pixi
+          add-paths: pixi.lock
+          delete-branch: true

{jaxsim-0.2.dev191 → jaxsim-0.6.1.dev2}/.gitignore

@@ -1,5 +1,6 @@
 # IDEs
 .idea*
+.vscode/
 
 # Matlab
 *.m~
@@ -76,6 +77,10 @@ instance/
 
 # Sphinx documentation
 docs/_build/
+docs/_collections/
+docs/modules/_autosummary/
+docs/modules/generated
+docs/sg_execution_times.rst
 
 # PyBuilder
 target/
@@ -136,3 +141,13 @@ dmypy.json
 
 # setuptools_scm dynamic version
 src/jaxsim/_version.py
+
+# ruff
+.ruff_cache/
+
+# pixi environments
+.pixi
+
+# data
+.mp4
+.png

jaxsim-0.6.1.dev2/.pre-commit-config.yaml

@@ -0,0 +1,54 @@
+ci:
+  autofix_prs: false
+  autoupdate_schedule: quarterly
+  submodules: false
+
+default_language_version:
+  python: python3
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+    - id: check-ast
+    - id: check-merge-conflict
+    - id: check-yaml
+    - id: end-of-file-fixer
+    - id: trailing-whitespace
+    - id: check-toml
+    - id: check-added-large-files
+      args: ["--maxkb=2000"]
+
+  - repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 24.10.0
+    hooks:
+      - id: black
+        args: ["--check", "--diff"]
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: ["--check", "--diff"]
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.8.6
+    hooks:
+      - id: ruff
+
+  - repo: https://github.com/kynan/nbstripout
+    rev: 0.8.1
+    hooks:
+      - id: nbstripout

{jaxsim-0.2.dev191 → jaxsim-0.6.1.dev2}/.readthedocs.yaml

@@ -1,9 +1,9 @@
 version: "2"
 
 build:
-  os: ubuntu-22.04
+  os: ubuntu-24.04
   tools:
-    python: "mambaforge-22.9"
+    python: "mambaforge-23.11"
 
 conda:
   environment: environment.yml

{jaxsim-0.2.dev191 → jaxsim-0.6.1.dev2}/LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2022, Artificial and Mechanical Intelligence 
+Copyright (c) 2022, Artificial and Mechanical Intelligence
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without