jaxsim 0.3.1.dev113__tar.gz → 0.3.1.dev121__tar.gz

{jaxsim-0.3.1.dev113/src/jaxsim.egg-info → jaxsim-0.3.1.dev121}/PKG-INFO

@@ -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
@@ -53,16 +81,7 @@ Requires-Dist: lxml; extra == "viz"
 Requires-Dist: mediapy; extra == "viz"
 Requires-Dist: mujoco>=3.0.0; extra == "viz"
 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"
 
 # JaxSim
 
@@ -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/PKG-INFO → jaxsim-0.3.1.dev121/README.md

@@ -1,69 +1,3 @@
-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
-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
-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 :: 3.10
-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
-Classifier: Topic :: Scientific/Engineering :: Physics
-Classifier: Topic :: Software Development
-Requires-Python: >=3.10
-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>=0.3.0
-Requires-Dist: typing_extensions; python_version < "3.12"
-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>=12.2.1; 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"
-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"
-
 # JaxSim
 
 JaxSim is a **differentiable physics engine** and **multibody dynamics library** designed for applications in control and robot learning, implemented with JAX.
@@ -95,6 +29,7 @@ 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 +83,7 @@ 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 +113,71 @@ 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 +223,19 @@ 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.dev121/pyproject.toml

@@ -0,0 +1,220 @@
+[project]
+name = "jaxsim"
+dynamic = ["version"]
+requires-python = ">= 3.10"
+description = "A differentiable physics engine and multibody dynamics library for control and robot learning."
+authors = [
+    { name = "Diego Ferigo", email = "dgferigo@gmail.com" },
+]
+maintainers = [
+    { name = "Diego Ferigo", email = "dgferigo@gmail.com" },
+    { name = "Filippo Luca Ferretti", email = "filippo.ferretti@iit.it" },
+]
+license.file = "LICENSE"
+keywords = [
+    "physics",
+    "physics engine",
+    "jax",
+    "rigid body dynamics",
+    "featherstone",
+    "reinforcement learning",
+    "robot",
+    "robotics",
+    "sdf",
+    "urdf",
+]
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "Framework :: Robot Framework",
+    "Intended Audience :: Developers",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: BSD License",
+    "Operating System :: POSIX :: Linux",
+    "Operating System :: MacOS",
+    "Operating System :: Microsoft",
+    "Programming Language :: Python :: 3 :: Only",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: Implementation :: CPython",
+    "Topic :: Games/Entertainment :: Simulation",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+    "Topic :: Scientific/Engineering :: Physics",
+    "Topic :: Software Development",
+]
+dependencies = [
+    "coloredlogs",
+    "jax >= 0.4.13",
+    "jaxlib >= 0.4.13",
+    "jaxlie >= 1.3.0",
+    "jax_dataclasses >= 1.4.0",
+    "pptree",
+    "rod >= 0.3.0",
+    "typing_extensions ; python_version < '3.12'",
+]
+
+[project.optional-dependencies]
+style = [
+    "black[jupyter] ~= 24.0",
+    "isort",
+    "pre-commit",
+]
+testing = [
+    "idyntree >= 12.2.1",
+    "pytest >=6.0",
+    "pytest-icdiff",
+    "robot-descriptions",
+]
+viz = [
+    "lxml",
+    "mediapy",
+    "mujoco >= 3.0.0",
+]
+all = [
+    "jaxsim[style,testing,viz]",
+]
+
+[project.readme]
+file = "README.md"
+content-type = "text/markdown"
+
+[project.urls]
+Changelog = "https://github.com/ami-iit/jaxsim/releases"
+Documentation = "https://jaxsim.readthedocs.io"
+Source = "https://github.com/ami-iit/jaxsim"
+Tracker = "https://github.com/ami-iit/jaxsim/issues"
+
+# ===========
+# Build tools
+# ===========
+
+[build-system]
+build-backend = "setuptools.build_meta"
+requires = [
+    "setuptools>=64",
+    "setuptools-scm[toml]>=8",
+    "wheel",
+]
+
+[tool.setuptools]
+package-dir = { "" = "src" }
+
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"
+version_file = "src/jaxsim/_version.py"
+
+# =================
+# Style and testing
+# =================
+
+[tool.black]
+line-length = 88
+
+[tool.isort]
+multi_line_output = 3
+profile = "black"
+
+[tool.pytest.ini_options]
+addopts = "-rsxX -v --strict-markers"
+minversion = "6.0"
+testpaths = [
+    "tests",
+]
+
+# ==================
+# Ruff configuration
+# ==================
+
+[tool.ruff]
+exclude = [
+    ".git",
+    ".pytest_cache",
+    ".ruff_cache",
+    ".vscode",
+    ".devcontainer",
+    "__pycache__",
+]
+preview = true
+
+[tool.ruff.lint]
+# https://docs.astral.sh/ruff/rules/
+select = [
+    "B",
+    "E",
+    "F",
+    "I",
+    "W",
+    "RUF",
+    "YTT",
+]
+
+ignore = [
+    "B008", # Function call in default argument
+    "B024", # Abstract base class without abstract methods
+    "E402", # Module level import not at top of file
+    "E501", # Line too long
+    "E731", # Do not assign a `lambda` expression, use a `def`
+    "E741", # Ambiguous variable name
+    "F841", # Local variable is assigned to but never used
+    "I001", # Import block is unsorted or unformatted
+    "RUF003", # Ambigous unicode character in comment
+]
+
+[tool.ruff.lint.per-file-ignores]
+# Ignore `E402` (import violations) in all `__init__.py` files
+"**/{tests,docs,tools}/*" = ["E402"]
+"**/{tests}/*" = ["B007"]
+"__init__.py" = ["F401"]
+"docs/conf.py" = ["F401"]
+
+# ==================
+# Pixi configuration
+# ==================
+
+[tool.pixi.project]
+channels = ["conda-forge"]
+platforms = ["linux-64", "osx-arm64", "osx-64"]
+
+[tool.pixi.dependencies]
+coloredlogs = "*"
+jax = "*"
+jax-dataclasses = "*"
+jaxlib = "*"
+jaxlie = "*"
+lxml = "*"
+mediapy = "*"
+mujoco = "*"
+notebook = "*"
+pptree = "*"
+rod = "*"
+sdformat14 = "*"
+typing_extensions = "*"
+
+[tool.pixi.feature.test.tasks]
+examples = { cmd = "jupyter notebook ./examples" }
+pipcheck = "pip check"
+test = { cmd = "pytest", depends_on = ["pipcheck"] }
+
+[tool.pixi.feature.test.dependencies]
+black = "24.*"
+idyntree = "*"
+isort = "*"
+pip = "*"
+pre-commit = "*"
+pytest = "*"
+pytest-icdiff = "*"
+robot_descriptions = "*"
+
+[tool.pixi.feature.gpu]
+dependencies = { cuda-version = "12.*", cuda-cupti = "*", jaxlib = "**cuda*" }
+platforms = ["linux-64"]
+system-requirements = { cuda = "12.1" }
+
+[tool.pixi.pypi-dependencies]
+jaxsim = { path = "./", editable = true }
+
+[tool.pixi.environments]
+default = { solve-group = "cpugroup" }
+gpu = { features = ["gpu"], solve-group = "gpugroup" }
+test-cpu = { features = ["test"], solve-group = "cpugroup" }
+test-gpu = { features = ["test", "gpu"], solve-group = "gpugroup" }

jaxsim-0.3.1.dev121/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

{jaxsim-0.3.1.dev113 → jaxsim-0.3.1.dev121}/src/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-0.3.1.dev113 → jaxsim-0.3.1.dev121}/src/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-0.3.1.dev113 → jaxsim-0.3.1.dev121}/src/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-0.3.1.dev113 → jaxsim-0.3.1.dev121}/src/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