jaxsim 0.3.1.dev64__py3-none-any.whl → 0.3.1.dev113__py3-none-any.whl

jaxsim/typing.py

@@ -1,5 +1,5 @@
 from collections.abc import Hashable
-from typing import Any
+from typing import Any, TypeVar
 
 import jax
 
@@ -7,36 +7,33 @@ import jax
 # JAX types
 # =========
 
-ScalarJax = jax.Array
-IntJax = ScalarJax
-BoolJax = ScalarJax
-FloatJax = ScalarJax
+Array = jax.Array
+Scalar = Array
+Vector = Array
+Matrix = Array
 
-ArrayJax = jax.Array
-VectorJax = ArrayJax
-MatrixJax = ArrayJax
+Int = Scalar
+Bool = Scalar
+Float = Scalar
 
 PyTree = (
-    dict[Hashable, "PyTree"] | list["PyTree"] | tuple["PyTree"] | None | jax.Array | Any
+    dict[Hashable, TypeVar("PyTree")]
+    | list[TypeVar("PyTree")]
+    | tuple[TypeVar("PyTree")]
+    | None
+    | jax.Array
+    | Any
 )
 
 # =======================
 # Mixed JAX / NumPy types
 # =======================
 
-Array = jax.typing.ArrayLike
-Scalar = Array
-Vector = Array
-Matrix = Array
+ArrayLike = jax.typing.ArrayLike | tuple
+ScalarLike = int | float | Scalar | ArrayLike
+VectorLike = Vector | ArrayLike | tuple
+MatrixLike = Matrix | ArrayLike
 
-Int = int | IntJax
-Bool = bool | ArrayJax
-Float = float | FloatJax
-
-ScalarLike = Scalar | int | float
-ArrayLike = Array
-VectorLike = Vector
-MatrixLike = Matrix
-IntLike = Int
-BoolLike = Bool
-FloatLike = Float
+IntLike = int | Int | jax.typing.ArrayLike
+BoolLike = bool | Bool | jax.typing.ArrayLike
+FloatLike = float | Float | jax.typing.ArrayLike

jaxsim/utils/jaxsim_dataclass.py

@@ -134,7 +134,7 @@ class JaxsimDataclass(abc.ABC):
             not a numpy-like array.
         """
 
-        return tuple(  # noqa
+        return tuple(
             leaf.shape if hasattr(leaf, "shape") else None
             for leaf in jax.tree_util.tree_leaves(tree)
             if hasattr(leaf, "shape")
@@ -326,7 +326,7 @@ class JaxsimDataclass(abc.ABC):
 
         return obj
 
-    def flatten(self) -> jtp.VectorJax:
+    def flatten(self) -> jtp.Vector:
         """
         Flatten the object into a 1D vector.
 
@@ -337,7 +337,7 @@ class JaxsimDataclass(abc.ABC):
         return self.flatten_fn()(self)
 
     @classmethod
-    def flatten_fn(cls: Type[Self]) -> Callable[[Self], jtp.VectorJax]:
+    def flatten_fn(cls: Type[Self]) -> Callable[[Self], jtp.Vector]:
         """
         Return a function to flatten the object into a 1D vector.
 
@@ -347,7 +347,7 @@ class JaxsimDataclass(abc.ABC):
 
         return lambda pytree: jax.flatten_util.ravel_pytree(pytree)[0]
 
-    def unflatten_fn(self: Self) -> Callable[[jtp.VectorJax], Self]:
+    def unflatten_fn(self: Self) -> Callable[[jtp.Vector], Self]:
         """
         Return a function to unflatten a 1D vector into the object.
 

jaxsim/utils/wrappers.py

@@ -106,7 +106,11 @@ class HashedNumpyArray:
             return False
 
         if self.large_array:
-            return np.array_equal(self.array, other.array)
+            return np.allclose(
+                self.array,
+                other.array,
+                **({dict(atol=self.precision)} if self.precision is not None else {}),
+            )
 
         return hash(self) == hash(other)
 

{jaxsim-0.3.1.dev64.dist-info → jaxsim-0.3.1.dev113.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev64
+Version: 0.3.1.dev113
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

jaxsim-0.3.1.dev113.dist-info/RECORD

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jaxsim-0.3.1.dev64.dist-info/RECORD

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