jaxsim 0.3.1.dev113__py3-none-any.whl → 0.3.1.dev121__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.3.1.dev113'
-__version_tuple__ = version_tuple = (0, 3, 1, 'dev113')
+__version__ = version = '0.3.1.dev121'
+__version_tuple__ = version_tuple = (0, 3, 1, 'dev121')

jaxsim/mujoco/model.py

@@ -378,7 +378,7 @@ class MujocoModelHelper:
                             for i in range(self.joint_dofs(joint_name=joint_name))
                         ]
                     )
-                    for idx, joint_name in zip(idxs, joint_names)
+                    for idx, joint_name in zip(idxs, joint_names, strict=True)
                 ]
             ).squeeze()
         )

jaxsim/parsers/kinematic_graph.py

@@ -797,7 +797,7 @@ class KinematicGraphTransforms:
         self._transform_cache.clear()
 
         # Update initial joint positions.
-        for joint_name, position in zip(joint_names, s):
+        for joint_name, position in zip(joint_names, s, strict=True):
             self._initial_joint_positions[joint_name] = position
 
     def transform(self, name: str) -> npt.NDArray:

jaxsim/terrain/terrain.py

@@ -5,6 +5,7 @@ import dataclasses
 
 import jax.numpy as jnp
 import jax_dataclasses
+import numpy as np
 
 import jaxsim.typing as jtp
 
@@ -149,10 +150,10 @@ class PlaneTerrain(FlatTerrain):
             return False
 
         if not (
-            jnp.allclose(self.z, other.z)
-            and jnp.allclose(
-                jnp.array(self.plane_normal, dtype=float),
-                jnp.array(other.plane_normal, dtype=float),
+            np.allclose(self.z, other.z)
+            and np.allclose(
+                np.array(self.plane_normal, dtype=float),
+                np.array(other.plane_normal, dtype=float),
             )
         ):
             return False

{jaxsim-0.3.1.dev113.dist-info → jaxsim-0.3.1.dev121.dist-info}/METADATA

@@ -1,16 +1,44 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev113
-Home-page: https://github.com/ami-iit/jaxsim
-Author: Diego Ferigo
-Author-email: diego.ferigo@iit.it
-License: BSD
+Version: 0.3.1.dev121
+Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
+Author-email: Diego Ferigo <dgferigo@gmail.com>
+Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
+License: BSD 3-Clause License
+        
+        Copyright (c) 2022, Artificial and Mechanical Intelligence
+        All rights reserved.
+        
+        Redistribution and use in source and binary forms, with or without
+        modification, are permitted provided that the following conditions are met:
+        
+        1. Redistributions of source code must retain the above copyright notice, this
+           list of conditions and the following disclaimer.
+        
+        2. Redistributions in binary form must reproduce the above copyright notice,
+           this list of conditions and the following disclaimer in the documentation
+           and/or other materials provided with the distribution.
+        
+        3. Neither the name of the copyright holder nor the names of its
+           contributors may be used to endorse or promote products derived from
+           this software without specific prior written permission.
+        
+        THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+        AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+        IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+        DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+        FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+        DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+        SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+        CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+        OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+        OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+        
 Project-URL: Changelog, https://github.com/ami-iit/jaxsim/releases
 Project-URL: Documentation, https://jaxsim.readthedocs.io
 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
@@ -19,10 +47,10 @@ Classifier: License :: OSI Approved :: BSD License
 Classifier: Operating System :: POSIX :: Linux
 Classifier: Operating System :: MacOS
 Classifier: Operating System :: Microsoft
+Classifier: Programming Language :: Python :: 3 :: Only
 Classifier: Programming Language :: Python :: 3.10
 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
@@ -40,16 +68,7 @@ Requires-Dist: pptree
 Requires-Dist: rod >=0.3.0
 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 >=12.2.1 ; 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'
+Requires-Dist: jaxsim[style,testing,viz] ; extra == 'all'
 Provides-Extra: style
 Requires-Dist: black[jupyter] ~=24.0 ; extra == 'style'
 Requires-Dist: isort ; extra == 'style'
@@ -95,6 +114,7 @@ Its design facilitates research and accelerates prototyping in the intersection
 - 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.
+- Supports running open-loop and full closed-loop control architectures on hardware accelerators.
 
 ### JaxSim for robot learning
 
@@ -148,7 +168,7 @@ You can install the project using [`pypa/pip`][pip], preferably in a [virtual en
 pip install jaxsim
 ```
 
-Check [`setup.cfg`](setup.cfg) for the complete list of optional dependencies.
+Check [`pyproject.toml`](pyproject.toml) 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.
@@ -178,6 +198,71 @@ pip install --no-deps -e .
 [venv]: https://docs.python.org/3/tutorial/venv.html
 [jax_gpu]: https://github.com/google/jax/#installation
 
+## Overview
+
+<details>
+<summary>Structure of the Python package</summary>
+
+```
+# tree -L 2 -I "__pycache__" -I "__init__*" -I "__main__*" src/jaxsim
+
+src/jaxsim
+|-- api..........................# Package containing the main functional APIs.
+|   |-- com.py...................# |-- APIs for computing quantities related to the center of mass.
+|   |-- common.py................# |-- Common utilities used in the current package.
+|   |-- contact.py...............# |-- APIs for computing quantities related to the collidable points.
+|   |-- data.py..................# |-- Class storing the data of a simulated model.
+|   |-- frame.py.................# |-- APIs for computing quantities related to additional frames.
+|   |-- joint.py.................# |-- APIs for computing quantities related to the joints.
+|   |-- kin_dyn_parameters.py....# |-- Class storing kinematic and dynamic parameters of a model.
+|   |-- link.py..................# |-- APIs for computing quantities related to the links.
+|   |-- model.py.................# |-- Class defining a simulated model and APIs for computing related quantities.
+|   |-- ode.py...................# |-- APIs for computing quantities related to the system dynamics.
+|   |-- ode_data.py..............# |-- Set of classes to store the data of the system dynamics.
+|   `-- references.py............# `-- Helper class to create references (link forces and joint torques).
+|-- exceptions.py................# Module containing functions to raise exceptions from JIT-compiled functions.
+|-- integrators..................# Package containing the integrators used to simulate the system dynamics.
+|   |-- common.py................# |-- Common utilities used in the current package.
+|   |-- fixed_step.py............# |-- Fixed-step integrators (explicit Runge-Kutta schemes).
+|   `-- variable_step.py.........# `-- Variable-step integrators (embedded Runge-Kutta schemes).
+|-- logging.py...................# Module containing logging utilities.
+|-- math.........................# Package containing mathematical utilities.
+|   |-- adjoint.py...............# |-- APIs for creating and manipulating 6D transformations.
+|   |-- cross.py.................# |-- APIs for computing cross products of 6D quantities.
+|   |-- inertia.py...............# |-- APIs for creating and manipulating 6D inertia matrices.
+|   |-- joint_model.py...........# |-- APIs defining the supported joint model and the corresponding transformations.
+|   |-- quaternion.py............# |-- APIs for creating and manipulating quaternions.
+|   |-- rotation.py..............# |-- APIs for creating and manipulating rotation matrices.
+|   |-- skew.py..................# |-- APIs for creating and manipulating skew-symmetric matrices.
+|   `-- transform.py.............# `-- APIs for creating and manipulating homogeneous transformations.
+|-- mujoco.......................# Package containing utilities to interact with the Mujoco passive viewer.
+|   |-- loaders.py...............# |-- Utilities for converting JaxSim models to Mujoco models.
+|   |-- model.py.................# |-- Class providing high-level methods to compute quantities using Mujoco.
+|   `-- visualizer.py............# `-- Class that simplifies opening the passive viewer and recording videos.
+|-- parsers......................# Package containing utilities to parse model descriptions (SDF and URDF models).
+|   |-- descriptions/............# |-- Package containing the intermediate representation of a model description.
+|   |-- kinematic_graph.py.......# |-- Definition of the kinematic graph associated with a parsed model description.
+|   `-- rod/.....................# `-- Package to create the intermediate representation from model descriptions using ROD.
+|-- rbda.........................# Package containing the low-level rigid body dynamics algorithms.
+|   |-- aba.py...................# |-- The Articulated Body Algorithm.
+|   |-- collidable_points.py.....# |-- Kinematics of collidable points.
+|   |-- contacts/................# |-- Package containing the supported contact models.
+|   |-- crba.py..................# |-- The Composite Rigid Body Algorithm.
+|   |-- forward_kinematics.py....# |-- Forward kinematics of the model.
+|   |-- jacobian.py..............# |-- Full Jacobian and full Jacobian derivative.
+|   |-- rnea.py..................# |-- The Recursive Newton-Euler Algorithm.
+|   `-- utils.py.................# `-- Common utilities used in the current package.
+|-- terrain......................# Package containing resources to specify the terrain.
+|   `-- terrain.py...............# `-- Classes defining the supported terrains.
+|-- typing.py....................# Module containing type hints.
+`-- utils........................# Package of common utilities.
+    |-- jaxsim_dataclass.py......# |-- Utilities to operate on pytree dataclasses.
+    |-- tracing.py...............# |-- Utilities to use when JAX is tracing functions.
+    `-- wrappers.py..............# `-- Utilities to wrap objects for specific use cases on pytree dataclass attributes.
+```
+
+</details>
+
 ## Credits
 
 The RBDAs are based on the theory of the [Rigid Body Dynamics Algorithms][RBDA]
@@ -223,6 +308,19 @@ Please read the [contributing guide](./CONTRIBUTING.md) to get started.
 }
 ```
 
+Theoretical aspects of JaxSim are based on Chapters 7 and 8 of the following Ph.D. thesis:
+
+```bibtex
+@phdthesis{ferigo_phd_thesis_2022,
+  title = {Simulation Architectures for Reinforcement Learning applied to Robotics},
+  author = {Diego Ferigo},
+  school = {University of Manchester},
+  type = {PhD Thesis},
+  month = {July},
+  year = {2022},
+}
+```
+
 ## People
 
 | Author | Maintainers |

{jaxsim-0.3.1.dev113.dist-info → jaxsim-0.3.1.dev121.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=ixsS4dYMPex2wOUUp_rkPnwrPhYzkRh1xO_YuMj3Cr4,2626
-jaxsim/_version.py,sha256=tjJY2_qcaED1KU6yngvUVAWrjBslzHlTRL3ozVencbc,428
+jaxsim/_version.py,sha256=GZDrbacjYcl3LIXmPula58Jg1Ywx1aW3J1F5Y3_sD2o,428
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=IbFx3UkEXi-cm7UBqMPi58rJAFV_HbZ9E_K4JwfNvVM,753
@@ -32,10 +32,10 @@ jaxsim/math/transform.py,sha256=_5kSnfkS6_vxvjxdw50KeXMjvW8e1OGaumUlk1iGJgc,2969
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
 jaxsim/mujoco/loaders.py,sha256=FuGPPg9Iq2xLZSqIFzlY7YfPR5uy9rbGlb0cU4gio5A,21000
-jaxsim/mujoco/model.py,sha256=ajpACdDJu06iiawgijAb0GDCczmkJbTXBF6klVNoaGw,13498
+jaxsim/mujoco/model.py,sha256=mObFS77EY97sTFdlFrl69_gf9S_0FHO0W3_hevxQNws,13511
 jaxsim/mujoco/visualizer.py,sha256=9jfKXkuoaW7Ppo_0m8dogD3SxH13K2strFNDVLtG3hA,5154
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-jaxsim/parsers/kinematic_graph.py,sha256=WNY83TaSRGDsTUCOiIlyKtPmzHpQm3XNx6AOOJzGj50,34721
+jaxsim/parsers/kinematic_graph.py,sha256=88d0EmndVJWdcyFJsW25S78Z8F04cUt08RQMyoil1Xw,34734
 jaxsim/parsers/descriptions/__init__.py,sha256=PbIlunVfb59pB5jSX97YVpMAANRZPRkJ0X-hS14rzv4,221
 jaxsim/parsers/descriptions/collision.py,sha256=BQeIG-TKi4SVny23w6riDrQ5itC6VRwEMBX6HgAXHxA,3973
 jaxsim/parsers/descriptions/joint.py,sha256=VSb6C0FBBKMqwrHBKfc-Bbn4rl_J0RzUxMQlhIEvOPM,5185
@@ -56,13 +56,13 @@ jaxsim/rbda/contacts/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hS
 jaxsim/rbda/contacts/common.py,sha256=iMKLP30Qft9eGTiHo2iY-UoACJjg1JphA9_pW8wRdjc,2410
 jaxsim/rbda/contacts/soft.py,sha256=3cDynim_tIgcbzRuqpHN82v4ELlxxK6lR-PG0haSK7Q,15660
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
-jaxsim/terrain/terrain.py,sha256=-20l3ePnfhyGKsNkzpfA63Rmf3imp2BqPHfgjWOGhik,4550
+jaxsim/terrain/terrain.py,sha256=X4uXkw927nzB6F5OY6WNf4fv85Zc2lk3uP76pjVcMaY,4565
 jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=fLl1tY3DDb3lpIhG6BPqA5W34hM84oFzL-5cuz8k-68,11379
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=GOJQCJc5zwzoEGZB62wnWWGvUUQlXvDxz_A2Q-hFv7c,4027
-jaxsim-0.3.1.dev113.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.3.1.dev113.dist-info/METADATA,sha256=Zr7gDlYMyDqazKvfmYRB17xTXmk7D5uhEf01tzuGuU8,9740
-jaxsim-0.3.1.dev113.dist-info/WHEEL,sha256=y4mX-SOX4fYIkonsAGA5N0Oy-8_gI4FXw5HNI1xqvWg,91
-jaxsim-0.3.1.dev113.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.3.1.dev113.dist-info/RECORD,,
+jaxsim-0.3.1.dev121.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.3.1.dev121.dist-info/METADATA,sha256=wEIK5M0SXEVSD5d_dEzwgy34fe3NfZnyl6u6LhFGS34,16780
+jaxsim-0.3.1.dev121.dist-info/WHEEL,sha256=y4mX-SOX4fYIkonsAGA5N0Oy-8_gI4FXw5HNI1xqvWg,91
+jaxsim-0.3.1.dev121.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.3.1.dev121.dist-info/RECORD,,