jaxsim 0.2.dev376__py3-none-any.whl → 0.2.dev388__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.dev376'
-__version_tuple__ = version_tuple = (0, 2, 'dev376')
+__version__ = version = '0.2.dev388'
+__version_tuple__ = version_tuple = (0, 2, 'dev388')

jaxsim/api/common.py

@@ -89,7 +89,7 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
         transform: jtp.Matrix,
         is_force: bool = False,
     ) -> jtp.Array:
-        """
+        r"""
         Convert a 6D quantity from inertial-fixed to another representation.
 
         Args:
@@ -155,7 +155,7 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
         transform: jtp.Matrix,
         is_force: bool = False,
     ) -> jtp.Array:
-        """
+        r"""
         Convert a 6D quantity from another representation to inertial-fixed.
 
         Args:

jaxsim/api/data.py

@@ -415,9 +415,9 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
 
     @jax.jit
     def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]:
-        """
+        r"""
         Get the generalized position
-        :math:`\mathbf{q} = ({}^W \mathbf{H}_B, \mathbf{s}) \in \text{SO}(3) \times \mathbb{R}^n`.
+        :math:`\\mathbf{q} = ({}^W \\mathbf{H}_B, \\mathbf{s}) \\in \text{SO}(3) \times \\mathbb{R}^n`.
 
         Returns:
             A tuple containing the base transform and the joint positions.
@@ -427,9 +427,9 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
 
     @jax.jit
     def generalized_velocity(self) -> jtp.Vector:
-        """
+        r"""
         Get the generalized velocity
-        :math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\, \boldsymbol{\omega}_{W,B};\, \mathbf{s}) \in \mathbb{R}^{6+n}`
+        :math:`\boldsymbol{\nu} = (\boldsymbol{v}_{W,B};\\, \boldsymbol{\\omega}_{W,B};\\, \\mathbf{s}) \\in \\mathbb{R}^{6+n}`
 
         Returns:
             The generalized velocity in the active representation.

jaxsim/api/model.py

@@ -937,7 +937,7 @@ def inverse_dynamics(
 def free_floating_gravity_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
-    """
+    r"""
     Compute the free-floating gravity forces :math:`g(\mathbf{q})` of the model.
 
     Args:
@@ -987,7 +987,7 @@ def free_floating_bias_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
     """
-    Compute the free-floating bias forces :math:`h(\mathbf{q}, \boldsymbol{\nu})`
+    Compute the free-floating bias forces :math:`h(\\mathbf{q}, \boldsymbol{\nu})`
     of the model.
 
     Args:

jaxsim/api/ode.py

@@ -8,7 +8,6 @@ import jaxsim.rbda
 import jaxsim.typing as jtp
 from jaxsim.integrators import Time
 from jaxsim.math import Quaternion
-from jaxsim.utils import Mutability
 
 from .common import VelRepr
 from .ode_data import ODEState

jaxsim/integrators/common.py

@@ -324,7 +324,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
     def post_process_state(
         cls, x0: State, t0: Time, xf: NextState, dt: TimeStep
     ) -> NextState:
-        """
+        r"""
         Post-process the integrated state at :math:`t_f = t_0 + \Delta t`.
 
         Args:
@@ -529,7 +529,7 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         # Return the index of the row of A providing the fsal derivative (that is the
         # possibly intermediate kᵢ derivative).
         # Note that if multiple rows match (it should not), we return the first match.
-        return True, int(jnp.where(rows_of_A_with_fsal == True)[0].tolist()[0])
+        return True, int(jnp.where(rows_of_A_with_fsal)[0].tolist()[0])
 
 
 class ExplicitRungeKuttaSO3Mixin:

jaxsim/math/transform.py

@@ -1,4 +1,3 @@
-import jax
 import jax.numpy as jnp
 import jaxlie
 

jaxsim/mujoco/loaders.py

@@ -102,7 +102,7 @@ class RodModelToMjcf:
 
         if root.find(f".//joint[@name='{floating_joint_name}']") is not None:
             msg = f"The URDF already has a floating joint '{floating_joint_name}'"
-            warnings.warn(msg)
+            warnings.warn(msg, stacklevel=2)
             return ET.tostring(root, pretty_print=True).decode()
 
         # Create the "world" link if it doesn't exist.

jaxsim/mujoco/model.py

@@ -7,6 +7,8 @@ import numpy as np
 import numpy.typing as npt
 from scipy.spatial.transform import Rotation
 
+import jaxsim.typing as jtp
+
 HeightmapCallable = Callable[[jtp.FloatLike, jtp.FloatLike], jtp.FloatLike]
 
 

jaxsim/parsers/kinematic_graph.py

@@ -268,7 +268,7 @@ class KinematicGraph:
 
         # Return early if there is no action to take
         if len(joint_names_to_remove) == 0:
-            logging.info(f"The kinematic graph doesn't need to be reduced")
+            logging.info("The kinematic graph doesn't need to be reduced")
             return copy.deepcopy(self)
 
         # Check if all considered joints are part of the full kinematic graph

jaxsim/utils/jaxsim_dataclass.py

@@ -1,6 +1,5 @@
 import abc
 import contextlib
-import copy
 import dataclasses
 import functools
 from collections.abc import Iterator

{jaxsim-0.2.dev376.dist-info → jaxsim-0.2.dev388.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev376
+Version: 0.2.dev388
 Summary: A physics engine in reduced coordinates implemented with JAX.
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo

{jaxsim-0.2.dev376.dist-info → jaxsim-0.2.dev388.dist-info}/RECORD

@@ -1,21 +1,21 @@
 jaxsim/__init__.py,sha256=OcrfoYS1DGcmAGqu2AqlCTiUVxcpi-IsVwcr_16x74Q,1789
-jaxsim/_version.py,sha256=nAy-z_b2P4v0CvZeZkkzcsMlBO4LKnDdLnFE2Kq0a4U,423
+jaxsim/_version.py,sha256=ajN4RtI-FZYlNpUqVy327D57EXvmjZkyMCV_lzLqeUo,423
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=MeuOCQtLAr-sPkvB_sU8FtwGNRirz1auCwIgRC-QZl8,646
 jaxsim/api/__init__.py,sha256=fNTCPUeDfOAizRd4RsW3Epv0sLTu0KJGoFRSEsi75VM,162
 jaxsim/api/com.py,sha256=Qtm_6qpiK4WtDVn6JMUHa8DySgBl9CjgKCybJqZ58Lc,7379
-jaxsim/api/common.py,sha256=6oqZO-QTYr2mpMx5qRrAnCIjQpjIJVe7MlavNFIKbNA,6638
+jaxsim/api/common.py,sha256=DV-WZG28sikXopNv458aYvpLjmiAtFr5LRscOwXusuk,6640
 jaxsim/api/contact.py,sha256=Ve4ZOWkLEBRgK3KhtICxKY7YzsxYvc3lO-pPRBjqSnY,8659
-jaxsim/api/data.py,sha256=1AJyKjmXdsWEf_CkvOXRmvRsDZamG706mAAg1Gttll0,26773
+jaxsim/api/data.py,sha256=cPFy6TTm0rNpDk1O0ZxOpvBwWVPu6V14XLRMeC7x81Q,26786
 jaxsim/api/joint.py,sha256=q31Kp3Cqv-yTcxijjzbj_QADFnGQyjb2al9fYZtzedo,4763
 jaxsim/api/kin_dyn_parameters.py,sha256=G4mtSi8fElYe0yttLgsxSOPf7vcK-yqTu06Aa5SSrYg,26012
 jaxsim/api/link.py,sha256=LZVcQhQsTKsfR13KewFtEMYu4siVJl7mqoDwYsoFFes,9240
-jaxsim/api/model.py,sha256=_waDChFZsHRbKOX6dkajRQxGkhqXFRMiMp3JXMqZ-MU,44089
-jaxsim/api/ode.py,sha256=rbSruK0Dkp09oBgHbB_-NrZS4o2tY9geK0yLLJfXzpM,9821
+jaxsim/api/model.py,sha256=Kpe5PQHP1VCS8Xmu4M_aa6EAJFPkOCO_Y11-TGhEtq8,44091
+jaxsim/api/ode.py,sha256=6l-6i2YHagsQvR8Ac-_fmO6P0hBVT6NkHhwXnrdITEg,9785
 jaxsim/api/ode_data.py,sha256=dwRFVPJ30XMmdUbPXEu7YxsQ97jZP4L4fd5ZzhrO5Ys,22184
 jaxsim/api/references.py,sha256=Lvskf17r619KKxwCJP7hAAty2kaXgDXJX1uKqoDIDgo,15483
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
-jaxsim/integrators/common.py,sha256=APmQVXKdN9JMIq7wrVKq2HlI1UKpqvLqaTqAq0VfJJ0,20700
+jaxsim/integrators/common.py,sha256=9HXRVFo95Mpt6RcVhBrOfvOO7mDxqbkXeg_lKUibEFY,20693
 jaxsim/integrators/fixed_step.py,sha256=JXaEyEzfSiYea0GnPA7l27J3X0YPB0e25D4qfrxAvzQ,2766
 jaxsim/integrators/variable_step.py,sha256=jq3PStzFiMciU7lux6CTj4B3gVOfSpYgK2oz2yzIbdo,21380
 jaxsim/math/__init__.py,sha256=inJ9nRFkqstuGa8OyFkfWVudo5U9Ug4WgDBuKva8AIA,337
@@ -26,14 +26,14 @@ jaxsim/math/joint_model.py,sha256=LKLB26VMz6vx9JLdFUWhGyrElYFEQV-bJiQO5kaZUGY,10
 jaxsim/math/quaternion.py,sha256=X9b8jHf0QemKUjIZSnXRJc3DdMr42CBhBy_mi9_X_AM,5068
 jaxsim/math/rotation.py,sha256=Z90daUjGpuNEVLfWB3SVtM9EtwAIaneVj9A9UpWXqhA,2182
 jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
-jaxsim/math/transform.py,sha256=nqH6ofde6VWjfHihmYdXvDxKFChpOPH6AsoqkUI1Og0,2928
+jaxsim/math/transform.py,sha256=boeuN8df4Yd9NvS64g-xUYoNqG91YafYLam4iITFJVg,2917
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=IGhchLIzINXDm8nDIsy1qIrffoiOpr8Hs36JTOOYVhg,17392
-jaxsim/mujoco/model.py,sha256=GgDlr7fSSEnkyqziPLLQaippMr4wRhfTo39DstD9Qik,12088
+jaxsim/mujoco/loaders.py,sha256=PG6TrmurdF99B_HJW39daNXMYlwGy3JMofb4oTRwPLc,17406
+jaxsim/mujoco/model.py,sha256=ErL4X4QWPCJJJjCAMHsFsksYTgIpmV_M8xWPZc-gQcA,12117
 jaxsim/mujoco/visualizer.py,sha256=-qg26t5tleTva6zzQmc5SdnlC8XZ1ZAwZ_lDjdwHJ0A,4400
 jaxsim/parsers/__init__.py,sha256=sonYi-bBWAoB04kp1mxT4uIORxjb7SdZ0ukGPmVx98Y,44
-jaxsim/parsers/kinematic_graph.py,sha256=2B5gtUboiSVJIm6PegbwHb5g_iXltG0R9_7h8RJ-92M,23785
+jaxsim/parsers/kinematic_graph.py,sha256=_ZJr-u1m64qPCeY6BHTI56dSOWhOGfbg2HN49XbTXhA,23784
 jaxsim/parsers/descriptions/__init__.py,sha256=EbTfnrK3oCxA3pNv--YUwllJ6uICENvFgAdRbYtS9ts,238
 jaxsim/parsers/descriptions/collision.py,sha256=HUWwuRgI9KznY29FFw1_zU3bGigDEezrcPOJSxSJGNU,3382
 jaxsim/parsers/descriptions/joint.py,sha256=hpH0ANvIhbEQk-NGRmWIvPv3lXW385TBIMWNgz5rzM4,4106
@@ -55,10 +55,10 @@ jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=q0xkWqEShVq-p1j2abTLZq8sEhjyJwquxQKm80PaHhM,2161
 jaxsim/utils/__init__.py,sha256=tnQq1_CavdfeKaLYt3pmO7Jk4MU2RwwQU_qICkjyoTY,197
 jaxsim/utils/hashless.py,sha256=bFIwKeo9KiWwsY8QM55duEGGQOyyJ4jQyPcuqTLEp5k,297
-jaxsim/utils/jaxsim_dataclass.py,sha256=9FtzgXQPSa6AN26FleDgXGsJMse4dtVACDESrn0g3bw,11359
+jaxsim/utils/jaxsim_dataclass.py,sha256=T8nZolb563mYJD7YvTmYW-z-hpkEiaK3cDbYHqwtqRc,11347
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
-jaxsim-0.2.dev376.dist-info/LICENSE,sha256=EsU2z6_sWW4Zduzq3goVWjZoCZVKQsM4H_y0o7oRA7Q,1547
-jaxsim-0.2.dev376.dist-info/METADATA,sha256=eWcinEhSdothvx37-yafMhBddfT5s0fIo4veqCLNnI8,7630
-jaxsim-0.2.dev376.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-jaxsim-0.2.dev376.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.2.dev376.dist-info/RECORD,,
+jaxsim-0.2.dev388.dist-info/LICENSE,sha256=EsU2z6_sWW4Zduzq3goVWjZoCZVKQsM4H_y0o7oRA7Q,1547
+jaxsim-0.2.dev388.dist-info/METADATA,sha256=T1FlCTdSjlgSIOFqv9Fik7fMwpwIcX6Ps5N2fCElQ7I,7630
+jaxsim-0.2.dev388.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+jaxsim-0.2.dev388.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.2.dev388.dist-info/RECORD,,