jaxsim 0.2.dev400__tar.gz → 0.2.dev423__tar.gz

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/.github/workflows/ci_cd.yml

@@ -92,7 +92,7 @@ jobs:
       - name: Document installed pip packages
         shell: bash
         run: pip list --verbose
-      
+
       - name: Import the package
         run: python -c "import jaxsim"
 

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/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.dev400 → jaxsim-0.2.dev423}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev400
+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

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/docs/conf.py

@@ -4,23 +4,13 @@ import sys
 
 from pkg_resources import get_distribution
 
+if os.environ.get("READTHEDOCS"):
+    checkout_name = os.path.basename(os.path.dirname(os.path.realpath(__file__)))
+    os.environ["CONDA_PREFIX"] = os.path.realpath(
+        os.path.join("..", "..", "conda", checkout_name)
+    )
 
-def _add_annotations_import(path):
-    with open(path, "r+") as f:
-        contents = f.read()
-        if not contents.startswith("from __future__ import annotations"):
-            f.seek(0, 0)
-            f.write("from __future__ import annotations  " + contents)
-
-
-def _recursive_add_annotations_import():
-    for path, _, files in os.walk("../jaxsim/"):
-        for file in [f for f in files if f.endswith(".py")]:
-            _add_annotations_import(os.path.join(path, file))
-
-
-if "READTHEDOCS" in os.environ:
-    _recursive_add_annotations_import()
+import jaxsim
 
 # -- Version information
 
@@ -58,13 +48,14 @@ extensions = [
     "sphinx_autodoc_typehints",
     "sphinx_multiversion",
     "enum_tools.autoenum",
+    "sphinx_design",
 ]
 
 # -- Options for intersphinx extension
 
 language = "en"
 
-html_theme = "sphinx_rtd_theme"
+html_theme = "sphinx_book_theme"
 
 templates_path = ["_templates"]
 

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/docs/guide/install.rst

@@ -6,12 +6,12 @@ Installation
 Prerequisites
 -------------
 
-JAXsim requires Python 3.11 or later. 
+JAXsim requires Python 3.11 or later.
 
 Basic Installation
 ------------------
 
-You can install the project with using `conda`_: 
+You can install the project with using `conda`_:
 
 .. code-block:: bash
 

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/docs/index.rst

@@ -3,30 +3,68 @@ 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 <https://github.com/google/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 simulation state.
-- High-level classes wrapping the low-level functional RBDAs with support of `multiple velocities representations <https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2>`_.
-- Default validation of JAX pytrees to prevent JIT re-compilations.
-- Preliminary support for automatic differentiation of RBDAs.
+.. grid::
+
+   .. grid-item::
+      :columns: 12 12 12 6
+
+      .. card:: Performance
+         :class-card: sd-border-0
+         :shadow: none
+         :class-title: sd-fs-5
+
+         .. div:: sd-font-normal
+
+            Physics engine in reduced coordinates implemented with `JAX <https://github.com/google/jax/>`_.
+            Compatibility with JIT compilation for increased performance and transparent support to execute logic on CPUs, GPUs, and TPUs.
+            Parallel multi-body simulations on hardware accelerators for significantly increased throughput
+
+   .. grid-item::
+      :columns: 12 12 12 6
+
+      .. card:: Model Parsing
+         :class-card: sd-border-0
+         :shadow: none
+         :class-title: sd-fs-5
+
+         .. div:: sd-font-normal
+
+            Support for SDF models (and, upon conversion, URDF models). Revolute, prismatic, and fixed joints supported.
+
+   .. grid-item::
+      :columns: 12 12 12 6
+
+      .. card:: Automatic Differentiation
+         :class-card: sd-border-0
+         :shadow: none
+         :class-title: sd-fs-5
+
+         .. div:: sd-font-normal
+
+            Support for automatic differentiation of rigid body dynamics algorithms (RBDAs) for model-based robotics research.
+            Soft contacts model supporting full friction cone and sticking / slipping transition.
+
+   .. grid-item::
+      :columns: 12 12 12 6
+
+      .. card:: Complex Dynamics
+         :class-card: sd-border-0
+         :shadow: none
+         :class-title: sd-fs-5
+
+         .. div:: sd-font-normal
+
+            JAXsim provides a variety of integrators for the simulation of multibody dynamics, including RK4, Heun, Euler, and more.
+            Support of `multiple velocities representations <https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2>`_.
+
+
+----
 
 .. toctree::
   :hidden:
@@ -37,17 +75,10 @@ Features
 
 .. toctree::
   :hidden:
-  :maxdepth: 2
+  :maxdepth: 1
   :caption: JAXsim API
 
-  modules/high_level
-  modules/math
-  modules/parsers
-  modules/physics
-  modules/simulation
-  modules/typing
-  modules/utils
-
+  modules/index
 
 Examples
 --------
@@ -73,23 +104,6 @@ Here below we summarize the differences between the projects:
 - 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.
 
-Contributing
-------------
-
-Pull requests are welcome. 
-For major changes, please open an issue first to discuss what you would like to change.
-
-Citing
-------
-
-.. code-block:: 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
 ------

jaxsim-0.2.dev423/docs/modules/api.rst

@@ -0,0 +1,68 @@
+Functional API
+==============
+
+.. currentmodule:: jaxsim.api
+
+Model
+~~~~~
+
+.. automodule:: jaxsim.api.model
+    :members:
+
+Data
+~~~~
+
+.. automodule:: jaxsim.api.data
+    :members:
+
+Contact
+~~~~~~~
+
+.. automodule:: jaxsim.api.contact
+    :members:
+
+KinDynParameters
+~~~~~~~~~~~~~~~~
+
+.. automodule:: jaxsim.api.kin_dyn_parameters
+    :members:
+
+Joint
+~~~~~
+
+.. automodule:: jaxsim.api.joint
+    :members:
+
+Link
+~~~~~
+.. automodule:: jaxsim.api.link
+    :members:
+
+CoM
+~~~
+.. automodule:: jaxsim.api.com
+    :members:
+
+ODE Data
+~~~~~~~~
+
+.. automodule:: jaxsim.api.ode_data
+    :members:
+
+.. automodule:: jaxsim.api.ode
+    :members:
+
+References
+~~~~~~~~~~
+
+.. automodule:: jaxsim.api.references
+    :members:
+
+Common
+~~~~~~
+
+.. autoflag:: jaxsim.api.common.VelRepr
+    :members:
+
+.. autoclass:: jaxsim.api.common.ModelDataWithVelocityRepresentation
+    :members:

jaxsim-0.2.dev423/docs/modules/index.rst

@@ -0,0 +1,19 @@
+Public API
+==========
+
+.. _modules:
+
+Modules
+-------
+
+.. toctree::
+    :maxdepth: 1
+
+    api
+    integrators
+    math
+    mujoco
+    parsers
+    rbda
+    typing
+    utils

jaxsim-0.2.dev423/docs/modules/integrators.rst

@@ -0,0 +1,23 @@
+Integrators
+===========
+
+.. currentmodule:: jaxsim.integrators
+
+
+Common
+~~~~~~
+
+.. automodule:: jaxsim.integrators.common
+    :members:
+
+Fixed Step
+~~~~~~~~~~
+
+.. automodule:: jaxsim.integrators.fixed_step
+    :members:
+
+Variable Step
+~~~~~~~~~~~~~
+
+.. automodule:: jaxsim.integrators.variable_step
+    :members:

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/docs/modules/math.rst

@@ -1,13 +1,9 @@
-Math 
+Math
 ====
 
 .. currentmodule:: jaxsim.math
-   
-.. automodule:: jaxsim.math.adjoint
-    :members:
-    :undoc-members:
 
-.. automodule:: jaxsim.math.conv
+.. automodule:: jaxsim.math.adjoint
     :members:
     :undoc-members:
 
@@ -19,14 +15,6 @@ Math
     :members:
     :undoc-members:
 
-.. automodule:: jaxsim.math.joint
-    :members:
-    :undoc-members:
-
-.. automodule:: jaxsim.math.plucker
-    :members:
-    :undoc-members:
-
 .. automodule:: jaxsim.math.quaternion
     :members:
     :undoc-members:

jaxsim-0.2.dev423/docs/modules/mujoco.rst

@@ -0,0 +1,27 @@
+MuJoCo Visualizer
+==================
+
+JAXsim provides a simple interface with MuJoCo's visualizer. The visualizer is
+a separate process that communicates with the main simulation process. This
+allows for the simulation to run at full speed while the visualizer can run at
+a different frame rate.
+
+.. currentmodule:: jaxsim.mujoco
+
+Loaders
+~~~~~~~
+
+.. automodule:: jaxsim.mujoco.loaders
+    :members:
+
+Model
+~~~~~
+
+.. automodule:: jaxsim.mujoco.model
+    :members:
+
+Visualizer
+~~~~~~~~~~
+
+.. automodule:: jaxsim.mujoco.visualizer
+    :members:

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/docs/modules/parsers.rst

@@ -1,4 +1,4 @@
-Parsers 
+Parsers
 =======
 
 .. automodule:: jaxsim.parsers.descriptions.collision

jaxsim-0.2.dev423/docs/modules/rbda.rst

@@ -0,0 +1,59 @@
+Rigid Body Dynamics Algorithms
+==============================
+
+This module provides a set of algorithms for rigid body dynamics.
+
+.. currentmodule:: jaxsim.rbda
+
+.. autosummary::
+    :toctree: _autosummary
+
+    aba
+    collidable_points
+    crba
+    forward_kinematics
+    jacobian
+    soft_contacts
+    utils
+
+Articulated Body Algorithm
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: jaxsim.rbda.aba
+    :members:
+
+Collision Detection
+~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: jaxsim.rbda.collidable_points
+    :members:
+
+Composite Rigid Body Algorithm
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: jaxsim.rbda.crba
+    :members:
+
+Forward Kinetmatics
+~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: jaxsim.rbda.forward_kinematics
+    :members:
+
+Jacobians
+~~~~~~~~~
+
+.. automodule:: jaxsim.rbda.jacobian
+    :members:
+
+Soft Contacts
+~~~~~~~~~~~~~
+
+.. automodule:: jaxsim.rbda.soft_contacts
+    :members:
+
+Utilities
+~~~~~~~~~
+
+.. automodule:: jaxsim.rbda.utils
+    :members:

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/docs/modules/typing.rst

@@ -1,4 +1,4 @@
-Typing 
+Typing
 ======
 
 .. currentmodule:: jaxsim.typing
@@ -14,4 +14,4 @@ Typing
     IntJax
     ArrayJax
     VectorJax
-    MatrixJax
+    MatrixJax

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/docs/modules/utils.rst

@@ -1,7 +1,4 @@
-.. _utils:
-
-
-Utils 
+Utils
 =====
 
 .. automodule:: jaxsim.utils

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/environment.yml

@@ -38,8 +38,11 @@ dependencies:
   - sphinx
   - sphinx-autodoc-typehints
   - sphinx-copybutton
+  - sphinx-design
   - sphinx_fontawesome
   - sphinx-jinja2-compat
   - sphinx-multiversion
   - sphinx_rtd_theme
+  - sphinx-book-theme
   - sphinx-toolbox
+  - pip

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/examples/.gitattributes

@@ -1,3 +1,2 @@
 # GitHub syntax highlighting
 pixi.lock linguist-language=YAML
-

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/examples/.gitignore

@@ -1,3 +1,2 @@
 # pixi environments
 .pixi
-

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/examples/README.md

@@ -21,12 +21,12 @@ The simplest way to run the examples is by accessing the provided Google Colab n
 
 For local execution, follow these steps:
 
-1. **Install `pixi`:** 
+1. **Install `pixi`:**
 
 As per the [official documentation](https://pixi.sh/#installation):
 
 ```bash
-curl -fsSL https://pixi.sh/install.sh | bash 
+curl -fsSL https://pixi.sh/install.sh | bash
 ```
 
 2. **Run the Example Notebook:**
@@ -37,4 +37,4 @@ Use `pixi run <notebook_name>` to execute the example notebook locally, e.g.:
 pixi run PD_controller
 ```
 
-This command will automatically handle the installation of necessary dependencies and execute the examples within a self-contained environment
+This command will automatically handle the installation of necessary dependencies and execute the examples within a self-contained environment

jaxsim-0.2.dev423/examples/assets/cartpole.urdf

@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--Create with rod using build_cartpole_model.py -->
+<robot name="cartpole">
+    <link name="world"/>
+    <link name="rail">
+        <inertial>
+            <origin xyz="0.0 0.0 1.2" rpy="1.5707963267948963 0.0 0.0"/>
+            <mass value="5.0"/>
+            <inertia ixx="10.416697916666665" ixy="0.0" ixz="0.0" iyy="10.416697916666665" iyz="0.0" izz="6.25e-05"/>
+        </inertial>
+        <visual name="rail_visual">
+            <origin xyz="0.0 0.0 1.2" rpy="1.5707963267948963 0.0 0.0"/>
+            <geometry>
+                <cylinder radius="0.005" length="5.0"/>
+            </geometry>
+        </visual>
+        <collision name="rail_collision">
+            <origin xyz="0.0 0.0 1.2" rpy="1.5707963267948963 0.0 0.0"/>
+            <geometry>
+                <cylinder radius="0.005" length="5.0"/>
+            </geometry>
+        </collision>
+    </link>
+    <link name="cart">
+    <inertial>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="0.0035416666666666674" ixy="0.0" ixz="0.0" iyy="0.0010416666666666669" iyz="0.0" izz="0.0041666666666666675"/>
+    </inertial>
+    <visual name="cart_visual">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <geometry>
+            <box size="0.1 0.2 0.05"/>
+        </geometry>
+    </visual>
+    <collision name="cart_collision">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <geometry>
+            <box size="0.1 0.2 0.05"/>
+        </geometry>
+    </collision>
+    </link>
+    <link name="pole">
+        <inertial>
+            <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.008333958333333334" ixy="0.0" ixz="0.0" iyy="0.008333958333333334" iyz="0.0" izz="1.25e-06"/>
+        </inertial>
+        <visual name="pole_visual">
+            <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <cylinder radius="0.005" length="1.0"/>
+            </geometry>
+        </visual>
+        <collision name="pole_collision">
+            <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <cylinder radius="0.005" length="1.0"/>
+            </geometry>
+        </collision>
+    </link>
+    <joint name="world_to_rail" type="fixed">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <parent link="world"/>
+        <child link="rail"/>
+    </joint>
+    <joint name="linear" type="prismatic">
+        <origin xyz="0.0 0.0 1.2" rpy="0.0 0.0 0.0"/>
+        <parent link="rail"/>
+        <child link="cart"/>
+        <axis xyz="0 1 0"/>
+        <limit effort="500.0" velocity="10.0" lower="-2.4" upper="2.4"/>
+    </joint>
+    <joint name="pivot" type="revolute">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <parent link="cart"/>
+        <child link="pole"/>
+        <axis xyz="1 0 0"/>
+        <!-- We avoid to use -3.4028234663852886e+38 as limits as mujoco parser have some problems with this,
+             TODO(traversaro) report issue in mujoco upstream -->
+        <limit effort="500.0" velocity="10.0" lower="-100000000" upper="100000000"/>
+    </joint>
+</robot>

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/pyproject.toml

@@ -66,3 +66,4 @@ select = [
 "**/{tests,docs,tools}/*" = ["E402"]
 "**/{tests}/*" = ["B007"]
 "__init__.py" = ["F401"]
+"docs/conf.py" = ["F401"]

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/src/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.dev423'
+__version_tuple__ = version_tuple = (0, 2, 'dev423')

{jaxsim-0.2.dev400 → jaxsim-0.2.dev423}/src/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: