jaxsim 0.2.dev394__py3-none-any.whl → 0.2.dev423__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.dev394'
-__version_tuple__ = version_tuple = (0, 2, 'dev394')
+__version__ = version = '0.2.dev423'
+__version_tuple__ = version_tuple = (0, 2, 'dev423')

jaxsim/api/model.py

@@ -986,8 +986,8 @@ def free_floating_gravity_forces(
 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})`
+    r"""
+    Compute the free-floating bias forces :math:`h(\mathbf{q}, \boldsymbol{\nu})`
     of the model.
 
     Args:

jaxsim/mujoco/loaders.py

@@ -13,7 +13,17 @@ def load_rod_model(
     is_urdf: bool | None = None,
     model_name: str | None = None,
 ) -> rod.Model:
-    """"""
+    """
+    Loads a ROD model from a URDF/SDF file or a ROD model.
+
+    Args:
+        model_description: The URDF/SDF file or ROD model to load.
+        is_urdf: Whether the model description is a URDF file.
+        model_name: The name of the model to load from the resource.
+
+    Returns:
+        rod.Model: The loaded ROD model.
+    """
 
     # Parse the SDF resource.
     sdf_element = rod.Sdf.load(sdf=model_description, is_urdf=is_urdf)
@@ -50,7 +60,15 @@ class RodModelToMjcf:
     def assets_from_rod_model(
         rod_model: rod.Model,
     ) -> dict[str, bytes]:
-        """"""
+        """
+        Generates a dictionary of assets from a ROD model.
+
+        Args:
+            rod_model: The ROD model to extract the assets from.
+
+        Returns:
+            dict: A dictionary of assets.
+        """
 
         import resolve_robotics_uri_py
 
@@ -85,7 +103,17 @@ class RodModelToMjcf:
         base_link_name: str,
         floating_joint_name: str = "world_to_base",
     ) -> str:
-        """"""
+        """
+        Adds a floating joint to a URDF string.
+
+        Args:
+            urdf_string: The URDF string to modify.
+            base_link_name: The name of the base link to attach the floating joint.
+            floating_joint_name: The name of the floating joint to add.
+
+        Returns:
+            str: The modified URDF string.
+        """
 
         with tempfile.NamedTemporaryFile(mode="w+", suffix=".urdf") as urdf_file:
 
@@ -132,7 +160,16 @@ class RodModelToMjcf:
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
     ) -> tuple[str, dict[str, Any]]:
-        """"""
+        """
+        Converts a ROD model to a Mujoco MJCF string.
+
+        Args:
+            rod_model: The ROD model to convert.
+            considered_joints: The list of joint names to consider in the conversion.
+
+        Returns:
+            tuple: A tuple containing the MJCF string and the assets dictionary.
+        """
 
         # -------------------------------------
         # Convert the model description to URDF
@@ -468,7 +505,17 @@ class UrdfToMjcf:
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
     ) -> tuple[str, dict[str, Any]]:
-        """"""
+        """
+        Converts a URDF file to a Mujoco MJCF string.
+
+        Args:
+            urdf: The URDF file to convert.
+            considered_joints: The list of joint names to consider in the conversion.
+            model_name: The name of the model to convert.
+
+        Returns:
+            tuple: A tuple containing the MJCF string and the assets dictionary.
+        """
 
         # Get the ROD model.
         rod_model = load_rod_model(
@@ -495,7 +542,17 @@ class SdfToMjcf:
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
     ) -> tuple[str, dict[str, Any]]:
-        """"""
+        """
+        Converts a SDF file to a Mujoco MJCF string.
+
+        Args:
+            sdf: The SDF file to convert.
+            considered_joints: The list of joint names to consider in the conversion.
+            model_name: The name of the model to convert.
+
+        Returns:
+            tuple: A tuple containing the MJCF string and the assets dictionary.
+        """
 
         # Get the ROD model.
         rod_model = load_rod_model(

jaxsim/mujoco/model.py

@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 import functools
 import pathlib
 from typing import Any, Callable
@@ -18,7 +20,13 @@ class MujocoModelHelper:
     """
 
     def __init__(self, model: mj.MjModel, data: mj.MjData | None = None) -> None:
-        """"""
+        """
+        Initialize the MujocoModelHelper object.
+
+        Args:
+            model: A Mujoco model object.
+            data: A Mujoco data object. If None, a new one will be created.
+        """
 
         self.model = model
         self.data = data if data is not None else mj.MjData(self.model)
@@ -34,8 +42,19 @@ class MujocoModelHelper:
         mjcf_description: str | pathlib.Path,
         assets: dict[str, Any] = None,
         heightmap: HeightmapCallable | None = None,
-    ) -> "MujocoModelHelper":
-        """"""
+    ) -> MujocoModelHelper:
+        """
+        Build a Mujoco model from an XML description and an optional assets dictionary.
+
+        Args:
+            mjcf_description: A string containing the XML description of the Mujoco model
+                or a path to a file containing the XML description.
+            assets: An optional dictionary containing the assets of the model.
+            heightmap: A function in two variables that returns the height of a terrain
+                in the specified coordinate point.
+        Returns:
+            A MujocoModelHelper object.
+        """
 
         # Read the XML description if it's a path to file
         mjcf_description = (
@@ -175,17 +194,17 @@ class MujocoModelHelper:
     # ==================
 
     def number_of_joints(self) -> int:
-        """"""
+        """Returns the number of joints in the model."""
 
         return self.model.njnt
 
     def number_of_dofs(self) -> int:
-        """"""
+        """Returns the number of DoFs in the model."""
 
         return self.model.nq
 
     def joint_names(self) -> list[str]:
-        """"""
+        """Returns the names of the joints in the model."""
 
         return [
             mj.mj_id2name(self.model, mj.mjtObj.mjOBJ_JOINT, idx)
@@ -193,7 +212,7 @@ class MujocoModelHelper:
         ]
 
     def joint_dofs(self, joint_name: str) -> int:
-        """"""
+        """Returns the number of DoFs of a joint."""
 
         if joint_name not in self.joint_names():
             raise ValueError(f"Joint '{joint_name}' not found")
@@ -201,7 +220,7 @@ class MujocoModelHelper:
         return self.data.joint(joint_name).qpos.size
 
     def joint_position(self, joint_name: str) -> npt.NDArray:
-        """"""
+        """Returns the position of a joint."""
 
         if joint_name not in self.joint_names():
             raise ValueError(f"Joint '{joint_name}' not found")
@@ -209,7 +228,7 @@ class MujocoModelHelper:
         return self.data.joint(joint_name).qpos
 
     def joint_positions(self, joint_names: list[str] | None = None) -> npt.NDArray:
-        """"""
+        """Returns the positions of the joints."""
 
         joint_names = joint_names if joint_names is not None else self.joint_names()
 
@@ -220,7 +239,7 @@ class MujocoModelHelper:
     def set_joint_position(
         self, joint_name: str, position: npt.NDArray | float
     ) -> None:
-        """"""
+        """Sets the position of a joint."""
 
         position = np.atleast_1d(np.array(position).squeeze())
 
@@ -239,7 +258,7 @@ class MujocoModelHelper:
     def set_joint_positions(
         self, joint_names: list[str], positions: npt.NDArray | list[npt.NDArray]
     ) -> None:
-        """"""
+        """Set the positions of multiple joints."""
 
         mask = self.mask_qpos(joint_names=tuple(joint_names))
         self.data.qpos[mask] = positions
@@ -249,12 +268,12 @@ class MujocoModelHelper:
     # ==================
 
     def number_of_bodies(self) -> int:
-        """"""
+        """Returns the number of bodies in the model."""
 
         return self.model.nbody
 
     def body_names(self) -> list[str]:
-        """"""
+        """Returns the names of the bodies in the model."""
 
         return [
             mj.mj_id2name(self.model, mj.mjtObj.mjOBJ_BODY, idx)
@@ -262,7 +281,7 @@ class MujocoModelHelper:
         ]
 
     def body_position(self, body_name: str) -> npt.NDArray:
-        """"""
+        """Returns the position of a body."""
 
         if body_name not in self.body_names():
             raise ValueError(f"Body '{body_name}' not found")
@@ -270,7 +289,7 @@ class MujocoModelHelper:
         return self.data.body(body_name).xpos
 
     def body_orientation(self, body_name: str, dcm: bool = False) -> npt.NDArray:
-        """"""
+        """Returns the orientation of a body."""
 
         if body_name not in self.body_names():
             raise ValueError(f"Body '{body_name}' not found")
@@ -284,12 +303,12 @@ class MujocoModelHelper:
     # ======================
 
     def number_of_geometries(self) -> int:
-        """"""
+        """Returns the number of geometries in the model."""
 
         return self.model.ngeom
 
     def geometry_names(self) -> list[str]:
-        """"""
+        """Returns the names of the geometries in the model."""
 
         return [
             mj.mj_id2name(self.model, mj.mjtObj.mjOBJ_GEOM, idx)
@@ -297,7 +316,7 @@ class MujocoModelHelper:
         ]
 
     def geometry_position(self, geometry_name: str) -> npt.NDArray:
-        """"""
+        """Returns the position of a geometry."""
 
         if geometry_name not in self.geometry_names():
             raise ValueError(f"Geometry '{geometry_name}' not found")
@@ -307,7 +326,7 @@ class MujocoModelHelper:
     def geometry_orientation(
         self, geometry_name: str, dcm: bool = False
     ) -> npt.NDArray:
-        """"""
+        """Returns the orientation of a geometry."""
 
         if geometry_name not in self.geometry_names():
             raise ValueError(f"Geometry '{geometry_name}' not found")

jaxsim/mujoco/visualizer.py

@@ -20,7 +20,17 @@ class MujocoVideoRecorder:
         height: int | None = None,
         **kwargs,
     ) -> None:
-        """"""
+        """
+        Initialize the Mujoco video recorder.
+
+        Args:
+            model: The Mujoco model.
+            data: The Mujoco data.
+            fps: The frames per second.
+            width: The width of the video.
+            height: The height of the video.
+            **kwargs: Additional arguments for the renderer.
+        """
 
         width = width if width is not None else model.vis.global_.offwidth
         height = height if height is not None else model.vis.global_.offheight
@@ -45,7 +55,7 @@ class MujocoVideoRecorder:
     def reset(
         self, model: mj.MjModel | None = None, data: mj.MjData | None = None
     ) -> None:
-        """"""
+        """Reset the model and data."""
 
         self.frames = []
 
@@ -53,7 +63,7 @@ class MujocoVideoRecorder:
         self.model = model if model is not None else self.model
 
     def render_frame(self, camera_name: str | None = None) -> npt.NDArray:
-        """"""
+        """Renders a frame."""
         camera_name = camera_name or "track"
 
         mujoco.mj_forward(self.model, self.data)
@@ -62,14 +72,14 @@ class MujocoVideoRecorder:
         return self.renderer.render()
 
     def record_frame(self, camera_name: str | None = None) -> None:
-        """"""
+        """Stores a frame in the buffer."""
         camera_name = camera_name or "track"
 
         frame = self.render_frame(camera_name=camera_name)
         self.frames.append(frame)
 
     def write_video(self, path: pathlib.Path, exist_ok: bool = False) -> None:
-        """"""
+        """Writes the video to a file."""
 
         if path.is_dir():
             raise IsADirectoryError(f"The path '{path}' is a directory.")
@@ -110,7 +120,13 @@ class MujocoVisualizer:
     def __init__(
         self, model: mj.MjModel | None = None, data: mj.MjData | None = None
     ) -> None:
-        """"""
+        """
+        Initialize the Mujoco visualizer.
+
+        Args:
+            model: The Mujoco model.
+            data: The Mujoco data.
+        """
 
         self.data = data
         self.model = model
@@ -121,7 +137,7 @@ class MujocoVisualizer:
         model: mj.MjModel | None = None,
         data: mj.MjData | None = None,
     ) -> None:
-        """"""
+        """Updates the viewer with the current model and data."""
 
         data = data if data is not None else self.data
         model = model if model is not None else self.model
@@ -132,7 +148,7 @@ class MujocoVisualizer:
     def open_viewer(
         self, model: mj.MjModel | None = None, data: mj.MjData | None = None
     ) -> mj.viewer.Handle:
-        """"""
+        """Opens a viewer."""
 
         data = data if data is not None else self.data
         model = model if model is not None else self.model
@@ -150,7 +166,7 @@ class MujocoVisualizer:
         data: mj.MjData | None = None,
         close_on_exit: bool = True,
     ) -> ContextManager[mujoco.viewer.Handle]:
-        """"""
+        """Context manager to open a viewer."""
 
         handle = self.open_viewer(model=model, data=data)
 

{jaxsim-0.2.dev394.dist-info → jaxsim-0.2.dev423.dist-info}/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

{jaxsim-0.2.dev394.dist-info → jaxsim-0.2.dev423.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev394
+Version: 0.2.dev423
 Summary: A physics engine in reduced coordinates implemented with JAX.
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
@@ -39,7 +39,7 @@ Requires-Dist: pptree
 Requires-Dist: rod >=0.2.0
 Requires-Dist: typing-extensions ; python_version < "3.12"
 Provides-Extra: all
-Requires-Dist: black[jupyter] ; extra == 'all'
+Requires-Dist: black[jupyter] ~=24.0 ; extra == 'all'
 Requires-Dist: isort ; extra == 'all'
 Requires-Dist: pre-commit ; extra == 'all'
 Requires-Dist: idyntree ; extra == 'all'
@@ -50,7 +50,7 @@ Requires-Dist: lxml ; extra == 'all'
 Requires-Dist: mediapy ; extra == 'all'
 Requires-Dist: mujoco >=3.0.0 ; extra == 'all'
 Provides-Extra: style
-Requires-Dist: black[jupyter] ; extra == 'style'
+Requires-Dist: black[jupyter] ~=24.0 ; extra == 'style'
 Requires-Dist: isort ; extra == 'style'
 Requires-Dist: pre-commit ; extra == 'style'
 Provides-Extra: testing

{jaxsim-0.2.dev394.dist-info → jaxsim-0.2.dev423.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=OcrfoYS1DGcmAGqu2AqlCTiUVxcpi-IsVwcr_16x74Q,1789
-jaxsim/_version.py,sha256=so5jZFKl8aDmZRylEyYqJKNNSSEg2aGlO-xfDv0En8w,423
+jaxsim/_version.py,sha256=owkLWbz7fNKHUUsy4zTEkEjYtjYzRLHH7f2f09P3roY,423
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=MeuOCQtLAr-sPkvB_sU8FtwGNRirz1auCwIgRC-QZl8,646
 jaxsim/api/__init__.py,sha256=fNTCPUeDfOAizRd4RsW3Epv0sLTu0KJGoFRSEsi75VM,162
@@ -10,7 +10,7 @@ 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=rypTwkMf9HJ5UuAtHRJh0LqqdJWcLKTtTjWcjduEsF0,9842
-jaxsim/api/model.py,sha256=u7CZTNc0UY0ZVpUEW-RsZi2UysyzbK06zvSPsdOlPYQ,52269
+jaxsim/api/model.py,sha256=UwjZctpQR_3F8_Cm-NmFQb14Wtw_vscs3Yg-ULpQyrs,52269
 jaxsim/api/ode.py,sha256=6l-6i2YHagsQvR8Ac-_fmO6P0hBVT6NkHhwXnrdITEg,9785
 jaxsim/api/ode_data.py,sha256=dwRFVPJ30XMmdUbPXEu7YxsQ97jZP4L4fd5ZzhrO5Ys,22184
 jaxsim/api/references.py,sha256=Lvskf17r619KKxwCJP7hAAty2kaXgDXJX1uKqoDIDgo,15483
@@ -29,9 +29,9 @@ jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
 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=PG6TrmurdF99B_HJW39daNXMYlwGy3JMofb4oTRwPLc,17406
-jaxsim/mujoco/model.py,sha256=ErL4X4QWPCJJJjCAMHsFsksYTgIpmV_M8xWPZc-gQcA,12117
-jaxsim/mujoco/visualizer.py,sha256=-qg26t5tleTva6zzQmc5SdnlC8XZ1ZAwZ_lDjdwHJ0A,4400
+jaxsim/mujoco/loaders.py,sha256=FwEZHdRZoxOqXPauQUojP5mjknMaTb386V2BSiAoz5Q,19323
+jaxsim/mujoco/model.py,sha256=5-4KTbEbU19zjrSuvUVdLo3noWxTvlCNsFIs3rQTNDY,13506
+jaxsim/mujoco/visualizer.py,sha256=YlteqcCbeB1B6saAHKBz1IJad3N5Rp163reZrzKLAys,5065
 jaxsim/parsers/__init__.py,sha256=sonYi-bBWAoB04kp1mxT4uIORxjb7SdZ0ukGPmVx98Y,44
 jaxsim/parsers/kinematic_graph.py,sha256=_ZJr-u1m64qPCeY6BHTI56dSOWhOGfbg2HN49XbTXhA,23784
 jaxsim/parsers/descriptions/__init__.py,sha256=EbTfnrK3oCxA3pNv--YUwllJ6uICENvFgAdRbYtS9ts,238
@@ -57,8 +57,8 @@ jaxsim/utils/__init__.py,sha256=tnQq1_CavdfeKaLYt3pmO7Jk4MU2RwwQU_qICkjyoTY,197
 jaxsim/utils/hashless.py,sha256=bFIwKeo9KiWwsY8QM55duEGGQOyyJ4jQyPcuqTLEp5k,297
 jaxsim/utils/jaxsim_dataclass.py,sha256=T8nZolb563mYJD7YvTmYW-z-hpkEiaK3cDbYHqwtqRc,11347
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
-jaxsim-0.2.dev394.dist-info/LICENSE,sha256=EsU2z6_sWW4Zduzq3goVWjZoCZVKQsM4H_y0o7oRA7Q,1547
-jaxsim-0.2.dev394.dist-info/METADATA,sha256=MAzjWBb9UwRC3HkwkBP6ivGKFF7qKmbUT0oGDyB0VJE,7630
-jaxsim-0.2.dev394.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-jaxsim-0.2.dev394.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.2.dev394.dist-info/RECORD,,
+jaxsim-0.2.dev423.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.2.dev423.dist-info/METADATA,sha256=BMFakjnVVXsnLtDGb4uoF9oGeaE5rnwthff_C3HykJc,7644
+jaxsim-0.2.dev423.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+jaxsim-0.2.dev423.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.2.dev423.dist-info/RECORD,,