jaxsim 0.2.dev400__py3-none-any.whl → 0.2.dev425__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.dev400'
-__version_tuple__ = version_tuple = (0, 2, 'dev400')
+__version__ = version = '0.2.dev425'
+__version_tuple__ = version_tuple = (0, 2, 'dev425')

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.dev400.dist-info → jaxsim-0.2.dev425.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.dev425.dist-info/METADATA

@@ -0,0 +1,236 @@
+Metadata-Version: 2.1
+Name: jaxsim
+Version: 0.2.dev425
+Summary: A physics engine in reduced coordinates implemented with JAX.
+Home-page: https://github.com/ami-iit/jaxsim
+Author: Diego Ferigo
+Author-email: diego.ferigo@iit.it
+License: BSD
+Project-URL: Changelog, https://github.com/ami-iit/jaxsim/releases
+Project-URL: Source, https://github.com/ami-iit/jaxsim
+Project-URL: Tracker, https://github.com/ami-iit/jaxsim/issues
+Keywords: physics,physics engine,jax,rigid body dynamics,featherstone,reinforcement learning,robot,robotics,sdf,urdf
+Platform: any
+Classifier: Development Status :: 4 - Beta
+Classifier: Framework :: Robot Framework
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: MacOS
+Classifier: Operating System :: Microsoft
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Topic :: Games/Entertainment :: Simulation
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Scientific/Engineering :: Physics
+Classifier: Topic :: Software Development
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: coloredlogs
+Requires-Dist: jax >=0.4.13
+Requires-Dist: jaxlib >=0.4.13
+Requires-Dist: jaxlie >=1.3.0
+Requires-Dist: jax-dataclasses >=1.4.0
+Requires-Dist: pptree
+Requires-Dist: rod >=0.2.0
+Requires-Dist: typing-extensions ; python_version < "3.12"
+Provides-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'
+Requires-Dist: pytest >=6.0 ; extra == 'all'
+Requires-Dist: pytest-icdiff ; extra == 'all'
+Requires-Dist: robot-descriptions ; extra == 'all'
+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] ~=24.0 ; extra == 'style'
+Requires-Dist: isort ; extra == 'style'
+Requires-Dist: pre-commit ; extra == 'style'
+Provides-Extra: testing
+Requires-Dist: idyntree ; extra == 'testing'
+Requires-Dist: pytest >=6.0 ; extra == 'testing'
+Requires-Dist: pytest-icdiff ; extra == 'testing'
+Requires-Dist: robot-descriptions ; extra == 'testing'
+Provides-Extra: viz
+Requires-Dist: lxml ; extra == 'viz'
+Requires-Dist: mediapy ; extra == 'viz'
+Requires-Dist: mujoco >=3.0.0 ; extra == 'viz'
+
+# JaxSim
+
+JaxSim is a **differentiable physics engine** and **multibody dynamics library** designed for applications in control and robot learning, implemented with JAX.
+
+Its design facilitates research and accelerates prototyping in the intersection of robotics and artificial intelligence. 
+
+## Features
+
+- Physics engine in reduced coordinates supporting fixed-base and floating-base robots.
+- Multibody dynamics library providing all the necessary components for developing model-based control algorithms.
+- Completely developed in Python with [`google/jax`][jax] following a functional programming paradigm.
+- Transparent support for running on CPUs, GPUs, and TPUs.
+- Full support for JIT compilation for increased performance.
+- Full support for automatic vectorization for massive parallelization of open-loop and closed-loop architectures.
+- Support for SDF models and, upon conversion with [sdformat][sdformat], URDF models.
+- Visualization based on the [passive viewer][passive_viewer_mujoco] of Mujoco.
+
+### JaxSim as a simulator
+
+- Wide range of fixed-step explicit Runge-Kutta integrators.
+- Support for variable-step integrators implemented as embedded Runge-Kutta schemes.
+- Improved stability by optionally integrating the base orientation on the $\text{SO}(3)$ manifold.
+- Soft contacts model supporting full friction cone and sticking-slipping transition.
+- Collision detection between points rigidly attached to bodies and uneven ground surfaces.
+
+### JaxSim as a multibody dynamics library
+
+- Provides rigid body dynamics algorithms (RBDAs) like RNEA, ABA, CRBA, and Jacobians. 
+- Provides all the quantities included in the Euler-Poincarè formulation of the equations of motion.
+- Supports body-fixed, inertial-fixed, and mixed [velocity representations][notation].
+- Exposes all the necessary quantities to develop controllers in centroidal coordinates.
+
+### JaxSim for robot learning
+
+- Being developed with JAX, all the RBDAs support automatic differentiation both in forward and reverse modes.
+- Support for automatically differentiating against kinematics and dynamics parameters.
+- All fixed-step integrators are forward and reverse differentiable.
+- All variable-step integrators are forward differentiable.
+- Ideal for sampling synthetic data for reinforcement learning (RL).
+- Ideal for designing physics-informed neural networks (PINNs) with loss functions requiring model-based quantities.
+- Ideal for combining model-based control with learning-based components.
+
+[jax]: https://github.com/google/jax/
+[sdformat]: https://github.com/gazebosim/sdformat
+[notation]: https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2
+[passive_viewer_mujoco]: https://mujoco.readthedocs.io/en/stable/python.html#passive-viewer
+
+> [!WARNING]
+> This project is still experimental, APIs could change between releases without notice.
+
+> [!NOTE]
+> JaxSim currently focuses on locomotion applications.
+> Only contacts between bodies and smooth ground surfaces are supported.
+
+## Documentation
+
+The JaxSim API documentation is available at [jaxsim.readthedocs.io][readthedocs].
+
+[readthedocs]: https://jaxsim.readthedocs.io/
+
+## Installation
+
+<details>
+<summary>With conda</summary>
+
+You can install the project using [`conda`][conda] as follows:
+
+```bash
+conda install jaxsim -c conda-forge
+```
+
+You can enforce GPU support, if needed, by also specifying `"jaxlib = * = *cuda*"`.
+
+</details>
+
+<details>
+<summary>With pip</summary>
+
+You can install the project using [`pypa/pip`][pip], preferably in a [virtual environment][venv], as follows:
+
+```bash
+pip install jaxsim
+```
+
+Check [`setup.cfg`](setup.cfg) for the complete list of optional dependencies.
+You can obtain a full installation using `jaxsim[all]`.
+
+If you need GPU support, follow the official [installation instructions][jax_gpu] of JAX.
+
+</details>
+
+<details>
+<summary>Contributors installation</summary>
+
+If you want to contribute to the project, we recommend creating the following `jaxsim` conda environment first:
+
+```bash
+conda env create -f environment.yml
+```
+
+Then, activate the environment and install the project in editable mode:
+
+```bash
+conda activate jaxsim
+pip install --no-deps -e .
+```
+
+</details>
+
+[conda]: https://anaconda.org/
+[pip]: https://github.com/pypa/pip/
+[venv]: https://docs.python.org/3/tutorial/venv.html
+[jax_gpu]: https://github.com/google/jax/#installation
+
+## Credits
+
+The RBDAs are based on the theory of the [Rigid Body Dynamics Algorithms][RBDA]
+book by Roy Featherstone.
+The algorithms and some simulation features were inspired by its accompanying [code][spatial_v2].
+
+[RBDA]: https://link.springer.com/book/10.1007/978-1-4899-7560-7
+[spatial_v2]: http://royfeatherstone.org/spatial/index.html#spatial-software
+
+The development of JaxSim started in late 2021, inspired by early versions of [`google/brax`][brax].
+At that time, Brax was implemented in maximal coordinates, and we wanted a physics engine in reduced coordinates.
+We are grateful to the Brax team for their work and showing the potential of [JAX][jax] in this field.
+
+Brax v2 was later implemented reduced coordinates, following an approach comparable to JaxSim.
+The development then shifted to [MJX][mjx], which today provides a JAX-based implementation of the Mujoco APIs.
+
+The main differences between MJX/Brax and JaxSim are as follows:
+
+- JaxSim supports out-of-the-box all SDF models with [Pose Frame Semantics][PFS].
+- JaxSim only supports collisions between points rigidly attached to bodies and a compliant ground surface.
+  Our contact model requires careful tuning of its spring-damper parameters, but being an instantaneous  
+  function of the state $(\mathbf{q}, \boldsymbol{\nu})$, it doesn't require running any optimization algorithm
+  when stepping the simulation forward.
+- JaxSim mitigates the stiffness of the contact-aware system dynamics by providing variable-step integrators. 
+
+[brax]: https://github.com/google/brax
+[mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html
+[PFS]: http://sdformat.org/tutorials?tut=pose_frame_semantics
+
+## Contributing
+
+We welcome contributions from the community.
+Please read the [contributing guide](./CONTRIBUTING.md) to get started.
+
+## Citing
+
+```bibtex
+@software{ferigo_jaxsim_2022,
+  author = {Diego Ferigo and Filippo Luca Ferretti and Silvio Traversaro and Daniele Pucci},
+  title = {{JaxSim}: A Differentiable Physics Engine and Multibody Dynamics Library for Control and Robot Learning},
+  url = {http://github.com/ami-iit/jaxsim},
+  year = {2022},
+}
+```
+
+## People
+
+| Author | Maintainers |
+|:------:|:-----------:|
+| [<img src="https://avatars.githubusercontent.com/u/469199?v=4" width="40">][df] | [<img src="https://avatars.githubusercontent.com/u/102977828?v=4" width="40">][ff] [<img src="https://avatars.githubusercontent.com/u/469199?v=4" width="40">][df] |
+
+[df]: https://github.com/diegoferigo
+[ff]: https://github.com/flferretti
+
+## License
+
+[BSD3](https://choosealicense.com/licenses/bsd-3-clause/)

{jaxsim-0.2.dev400.dist-info → jaxsim-0.2.dev425.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=OcrfoYS1DGcmAGqu2AqlCTiUVxcpi-IsVwcr_16x74Q,1789
-jaxsim/_version.py,sha256=BO3EMbgAuYlaQwu5AW79yzemzs_VfsatTtNvmyxhhT4,423
+jaxsim/_version.py,sha256=l20fd5wo4rdowiTMBXyxEkIgZd2mVxKUE6GuILEU3rA,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.dev400.dist-info/LICENSE,sha256=EsU2z6_sWW4Zduzq3goVWjZoCZVKQsM4H_y0o7oRA7Q,1547
-jaxsim-0.2.dev400.dist-info/METADATA,sha256=EL191CZ6s6EL91lE_vJkEYOmgo-3E7GQV8ovR9ZFwVM,7644
-jaxsim-0.2.dev400.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-jaxsim-0.2.dev400.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.2.dev400.dist-info/RECORD,,
+jaxsim-0.2.dev425.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.2.dev425.dist-info/METADATA,sha256=Dznse8CFPZj8N_pQ37sVie_jUB745H7sho_cmGvlNcA,9687
+jaxsim-0.2.dev425.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+jaxsim-0.2.dev425.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.2.dev425.dist-info/RECORD,,

jaxsim-0.2.dev400.dist-info/METADATA

@@ -1,182 +0,0 @@
-Metadata-Version: 2.1
-Name: jaxsim
-Version: 0.2.dev400
-Summary: A physics engine in reduced coordinates implemented with JAX.
-Home-page: https://github.com/ami-iit/jaxsim
-Author: Diego Ferigo
-Author-email: diego.ferigo@iit.it
-License: BSD
-Project-URL: Changelog, https://github.com/ami-iit/jaxsim/releases
-Project-URL: Source, https://github.com/ami-iit/jaxsim
-Project-URL: Tracker, https://github.com/ami-iit/jaxsim/issues
-Keywords: physics,physics engine,jax,rigid body dynamics,featherstone,reinforcement learning,robot,robotics,sdf,urdf
-Platform: any
-Classifier: Development Status :: 4 - Beta
-Classifier: Framework :: Robot Framework
-Classifier: Intended Audience :: Developers
-Classifier: Intended Audience :: Science/Research
-Classifier: License :: OSI Approved :: BSD License
-Classifier: Operating System :: POSIX :: Linux
-Classifier: Operating System :: MacOS
-Classifier: Operating System :: Microsoft
-Classifier: Programming Language :: Python :: 3.11
-Classifier: Programming Language :: Python :: 3.12
-Classifier: Programming Language :: Python :: 3 :: Only
-Classifier: Programming Language :: Python :: Implementation :: CPython
-Classifier: Topic :: Games/Entertainment :: Simulation
-Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
-Classifier: Topic :: Scientific/Engineering :: Physics
-Classifier: Topic :: Software Development
-Requires-Python: >=3.11
-Description-Content-Type: text/markdown
-License-File: LICENSE
-Requires-Dist: coloredlogs
-Requires-Dist: jax >=0.4.13
-Requires-Dist: jaxlib >=0.4.13
-Requires-Dist: jaxlie >=1.3.0
-Requires-Dist: jax-dataclasses >=1.4.0
-Requires-Dist: pptree
-Requires-Dist: rod >=0.2.0
-Requires-Dist: typing-extensions ; python_version < "3.12"
-Provides-Extra: all
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-Requires-Dist: isort ; extra == 'all'
-Requires-Dist: pre-commit ; extra == 'all'
-Requires-Dist: idyntree ; extra == 'all'
-Requires-Dist: pytest >=6.0 ; extra == 'all'
-Requires-Dist: pytest-icdiff ; extra == 'all'
-Requires-Dist: robot-descriptions ; extra == 'all'
-Requires-Dist: lxml ; extra == 'all'
-Requires-Dist: mediapy ; extra == 'all'
-Requires-Dist: mujoco >=3.0.0 ; extra == 'all'
-Provides-Extra: style
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-Requires-Dist: pre-commit ; extra == 'style'
-Provides-Extra: testing
-Requires-Dist: idyntree ; extra == 'testing'
-Requires-Dist: pytest >=6.0 ; extra == 'testing'
-Requires-Dist: pytest-icdiff ; extra == 'testing'
-Requires-Dist: robot-descriptions ; extra == 'testing'
-Provides-Extra: viz
-Requires-Dist: lxml ; extra == 'viz'
-Requires-Dist: mediapy ; extra == 'viz'
-Requires-Dist: mujoco >=3.0.0 ; extra == 'viz'
-
-# JAXsim
-
-**A scalable physics engine and multibody dynamics library implemented with JAX. With JIT batteries 🔋**
-
-> [!WARNING]
-> This project is still experimental, APIs could change without notice.
-
-> [!NOTE]
-> This simulator currently focuses on locomotion applications. Only contacts with ground are supported.
-
-## Features
-
-- Physics engine in reduced coordinates implemented with [JAX][jax] in Python.
-- JIT compilation of Python code for increased performance.
-- Transparent support to execute logic on CPUs, GPUs, and TPUs.
-- Parallel multi-body simulations on hardware accelerators for significantly increased throughput.
-- Support for SDF models (and, upon conversion, URDF models).
-- Collision detection between bodies and uneven ground surface.
-- Soft contacts model supporting full friction cone and sticking / slipping transition.
-- Complete support for inertial properties of rigid bodies.
-- Revolute, prismatic, and fixed joints support.
-- Integrators: forward Euler, semi-implicit Euler, Runge-Kutta 4.
-- High-level classes for object-oriented programming.
-- High-level classes to compute multi-body dynamics quantities from the simulation state.
-- High-level classes wrapping the low-level functional RBDAs with support of [multiple velocities representations][notation].
-- Default validation of JAX pytrees to prevent JIT re-compilations.
-- Preliminary support for automatic differentiation of RBDAs.
-
-[jax]: https://github.com/google/jax/
-[notation]: https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2
-
-## Documentation
-
-The JAXsim API documentation is available at [jaxsim.readthedocs.io](https://jaxsim.readthedocs.io/).
-
-## Installation
-
-You can install the project using [`conda`][conda]:
-
-```bash
-conda install jaxsim -c conda-forge
-```
-
-Alternatively, you can use [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
-
-```bash
-pip install jaxsim
-```
-
-Check [`setup.cfg`](setup.cfg) for the complete list of optional dependencies.
-Install all of them with `jaxsim[all]`.
-
-**Note:** For GPU support, follow the official [installation instructions][jax_gpu] of JAX.
-
-[conda]: https://anaconda.org/
-[pip]: https://github.com/pypa/pip/
-[venv]: https://docs.python.org/3/tutorial/venv.html
-[jax_gpu]: https://github.com/google/jax/#installation
-
-## Quickstart
-
-Explore and learn how to use the library through practical demonstrations available in the [examples](./examples) folder.
-
-## Credits
-
-The physics module of JAXsim is based on the theory of the [Rigid Body Dynamics Algorithms][RBDA]
-book by Roy Featherstone.
-We structured part of our logic following its accompanying [code][spatial_v2].
-The physics engine is developed entirely in Python using [JAX][jax].
-
-[RBDA]: https://link.springer.com/book/10.1007/978-1-4899-7560-7
-[spatial_v2]: http://royfeatherstone.org/spatial/index.html#spatial-software
-
-The inspiration for developing JAXsim originally stemmed from early versions of [`google/brax`][brax].
-Here below we summarize the differences between the projects:
-
-- JAXsim simulates multibody dynamics in reduced coordinates, while brax v1 uses maximal coordinates.
-- The new v2 APIs of brax (and the new [MJX][mjx]) were then implemented in reduced coordinates, following an approach comparable to JAXsim, with major differences in contact handling.
-- The rigid-body algorithms used in JAXsim allow to efficiently compute quantities based on the Euler-Poincarè
-  formulation of the equations of motion, necessary for model-based robotics research.
-- JAXsim supports SDF (and, indirectly, URDF) models, assuming the model is described with the
-  recent [Pose Frame Semantics][PFS].
-- Contrarily to brax, JAXsim only supports collision detection between bodies and a compliant ground surface.
-- The RBDAs of JAXsim support automatic differentiation, but this functionality has not been thoroughly tested.
-
-[brax]: https://github.com/google/brax
-[mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html
-[PFS]: http://sdformat.org/tutorials?tut=pose_frame_semantics
-
-## Contributing
-
-We welcome contributions from the community.
-Please read the [contributing guide](./CONTRIBUTING.md) to get started.
-
-## Citing
-
-```bibtex
-@software{ferigo_jaxsim_2022,
-  author = {Diego Ferigo and Silvio Traversaro and Daniele Pucci},
-  title = {{JAXsim}: A Physics Engine in Reduced Coordinates and Multibody Dynamics Library for Control and Robot Learning},
-  url = {http://github.com/ami-iit/jaxsim},
-  year = {2022},
-}
-```
-
-## People
-
-| Author | Maintainers |
-|:------:|:-----------:|
-| [<img src="https://avatars.githubusercontent.com/u/469199?v=4" width="40">][df] | [<img src="https://avatars.githubusercontent.com/u/102977828?v=4" width="40">][ff] [<img src="https://avatars.githubusercontent.com/u/469199?v=4" width="40">][df] |
-
-[df]: https://github.com/diegoferigo
-[ff]: https://github.com/flferretti
-
-## License
-
-[BSD3](https://choosealicense.com/licenses/bsd-3-clause/)