jaxsim 0.3.1.dev94__tar.gz → 0.3.1.dev113__tar.gz

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/.gitignore

@@ -77,6 +77,10 @@ instance/
 
 # Sphinx documentation
 docs/_build/
+docs/_collections/
+docs/modules/_autosummary/
+docs/modules/generated
+docs/sg_execution_times.rst
 
 # PyBuilder
 target/

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/.readthedocs.yaml

@@ -1,9 +1,9 @@
 version: "2"
 
 build:
-  os: ubuntu-22.04
+  os: ubuntu-24.04
   tools:
-    python: "mambaforge-22.9"
+    python: "mambaforge-23.11"
 
 conda:
   environment: environment.yml

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev94
+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/docs/conf.py

@@ -0,0 +1,124 @@
+# Configuration file for the Sphinx documentation builder.
+import os
+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)
+    )
+
+import jaxsim
+
+# -- Version information
+
+sys.path.insert(0, os.path.abspath("."))
+sys.path.insert(0, os.path.abspath("../"))
+sys.path.insert(0, os.path.abspath("../../"))
+
+module_path = os.path.abspath("../src/")
+sys.path.insert(0, module_path)
+
+__version__ = get_distribution("jaxsim").version
+
+# -- Project information
+
+project = "JAXsim"
+copyright = "2022, Artificial and Mechanical Intelligence"
+author = "Artificial and Mechanical Intelligence"
+
+release = f"{__version__}"
+version = f"main ({__version__})"
+
+# -- General configuration
+
+extensions = [
+    "sphinx.ext.duration",
+    "sphinx.ext.doctest",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.ifconfig",
+    "sphinx.ext.viewcode",
+    "sphinx_rtd_theme",
+    "sphinx.ext.napoleon",
+    "sphinx_autodoc_typehints",
+    "sphinx_multiversion",
+    "enum_tools.autoenum",
+    "myst_nb",
+    "sphinx_gallery.gen_gallery",
+    "sphinxcontrib.collections",
+    "sphinx_design",
+]
+
+# -- Options for intersphinx extension
+
+language = "en"
+
+html_theme = "sphinx_book_theme"
+
+templates_path = ["_templates"]
+
+html_title = f"JAXsim {version}"
+
+master_doc = "index"
+
+autodoc_typehints_format = "short"
+
+autodoc_typehints = "description"
+
+autosummary_generate = True
+
+epub_show_urls = "footnote"
+
+# Enable postponed evaluation of annotations (PEP 563)
+autodoc_type_aliases = {
+    "jaxsim.typing.PyTree": "jaxsim.typing.PyTree",
+    "jaxsim.typing.Vector": "jaxsim.typing.Vector",
+    "jaxsim.typing.Matrix": "jaxsim.typing.Matrix",
+    "jaxsim.typing.Array": "jaxsim.typing.Array",
+    "jaxsim.typing.Int": "jaxsim.typing.Int",
+    "jaxsim.typing.Bool": "jaxsim.typing.Bool",
+    "jaxsim.typing.Float": "jaxsim.typing.Float",
+    "jaxsim.typing.ScalarLike": "jaxsim.typing.ScalarLike",
+    "jaxsim.typing.ArrayLike": "jaxsim.typing.ArrayLike",
+    "jaxsim.typing.VectorLike": "jaxsim.typing.VectorLike",
+    "jaxsim.typing.MatrixLike": "jaxsim.typing.MatrixLike",
+    "jaxsim.typing.IntLike": "jaxsim.typing.IntLike",
+    "jaxsim.typing.BoolLike": "jaxsim.typing.BoolLike",
+    "jaxsim.typing.FloatLike": "jaxsim.typing.FloatLike",
+}
+
+# -- Options for sphinx-collections
+
+collections = {
+    "examples": {"driver": "copy_folder", "source": "../examples/", "ignore": "assets"}
+}
+
+# -- Options for sphinx-gallery ----------------------------------------------
+
+sphinx_gallery_conf = {
+    "examples_dirs": "../examples",
+    "gallery_dirs": "../generated_examples/",
+    "doc_module": "jaxsim",
+}
+
+# -- Options for myst -------------------------------------------------------
+myst_enable_extensions = [
+    "amsmath",
+    "dollarmath",
+]
+nb_execution_mode = "auto"
+nb_execution_raise_on_error = True
+nb_render_image_options = {
+    "scale": "60",
+}
+nb_execution_timeout = 180
+
+source_suffix = [".rst", ".md", ".ipynb"]
+
+# Ignore header warnings
+suppress_warnings = ["myst.header"]

jaxsim-0.3.1.dev113/docs/examples.rst

@@ -0,0 +1,46 @@
+.. _collections:
+
+Example Notebooks
+=================
+
+.. toctree::
+    :glob:
+    :hidden:
+    :maxdepth: 1
+
+    _collections/examples/README.md
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbnails">
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbcontainer" tooltip="Parallel Simulation.">
+
+.. only:: html
+
+    :doc:`_collections/examples/Parallel_computing`
+
+.. raw:: html
+
+      <div class="sphx-glr-thumbnail-title">Parallel Simulation</div>
+    </div>
+
+
+.. raw:: html
+
+    <div class="sphx-glr-thumbcontainer" tooltip="PD Controller.">
+
+.. only:: html
+
+    :doc:`_collections/examples/PD_controller`
+
+.. raw:: html
+
+      <div class="sphx-glr-thumbnail-title">PD Controller</div>
+    </div>
+
+.. raw:: html
+
+    </div>

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/docs/index.rst

@@ -21,7 +21,7 @@ Features
 
          .. div:: sd-font-normal
 
-            Physics engine in reduced coordinates implemented with `JAX <https://github.com/google/jax/>`_.
+            Physics engine in reduced coordinates implemented with 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
 
@@ -68,17 +68,24 @@ Features
 
 .. toctree::
   :hidden:
-  :maxdepth: 1
-  :caption: User Guide
 
   guide/install
 
+  examples
+
 .. toctree::
   :hidden:
-  :maxdepth: 1
+  :maxdepth: 2
   :caption: JAXsim API
 
-  modules/index
+  modules/api
+  modules/integrators
+  modules/math
+  modules/mujoco
+  modules/parsers
+  modules/rbda
+  modules/typing
+  modules/utils
 
 Examples
 --------
@@ -90,13 +97,13 @@ Credits
 
 The physics module of JAXsim is based on the theory of the `Rigid Body Dynamics Algorithms <https://link.springer.com/book/10.1007/978-1-4899-7560-7>`_ book by Roy Featherstone.
 We structured part of our logic following its accompanying `code <http://royfeatherstone.org/spatial/index.html#spatial-software>`_.
-The physics engine is developed entirely in Python using `JAX <https://github.com/google/jax/>`_.
+The physics engine is developed entirely in Python using JAX_.
 
-The inspiration for developing JAXsim originally stemmed from early versions of `google/brax <https://github.com/google/brax>`_.
+The inspiration for developing JAXsim originally stemmed from early versions of 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 <https://mujoco.readthedocs.io/en/3.0.0/mjx.html>`_) were then implemented in reduced coordinates, following an approach comparable to JAXsim, with major differences in contact handling.
+- JAXsim simulates multibody dynamics in reduced coordinates, while :code:`brax v1` uses maximal coordinates.
+- The new v2 APIs of brax (and the new 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
@@ -122,3 +129,7 @@ License
 -------
 
 `BSD3 <https://choosealicense.com/licenses/bsd-3-clause/>`_
+
+.. _Brax: https://github.com/google/brax
+.. _MJX: https://mujoco.readthedocs.io/en/3.0.0/mjx.html
+.. _JAX: https://github.com/google/jax

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/docs/modules/api.rst

@@ -3,65 +3,93 @@ Functional API
 
 .. currentmodule:: jaxsim.api
 
+.. autosummary::
+   :toctree: _autosummary
+
+    model
+    data
+    contact
+    kin_dyn_parameters
+    joint
+    link
+    frame
+    com
+    ode_data
+    ode
+    references
+    common
+
+
 Model
 ~~~~~
 
 .. automodule:: jaxsim.api.model
     :members:
+    :no-index:
 
 Data
 ~~~~
 
 .. automodule:: jaxsim.api.data
     :members:
+    :no-index:
 
 Contact
 ~~~~~~~
 
 .. automodule:: jaxsim.api.contact
     :members:
+    :no-index:
 
 KinDynParameters
 ~~~~~~~~~~~~~~~~
 
 .. automodule:: jaxsim.api.kin_dyn_parameters
     :members:
+    :no-index:
 
 Joint
 ~~~~~
 
 .. automodule:: jaxsim.api.joint
     :members:
+    :no-index:
 
 Link
 ~~~~~
 .. automodule:: jaxsim.api.link
     :members:
+    :no-index:
 
 Frame
 ~~~~~
 .. automodule:: jaxsim.api.frame
     :members:
+    :no-index:
 
 CoM
 ~~~
 .. automodule:: jaxsim.api.com
     :members:
+    :no-index:
 
 ODE Data
 ~~~~~~~~
 
 .. automodule:: jaxsim.api.ode_data
     :members:
+    :no-index:
 
 .. automodule:: jaxsim.api.ode
     :members:
+    :no-index:
 
 References
 ~~~~~~~~~~
 
 .. automodule:: jaxsim.api.references
     :members:
+    :no-index:
 
 Common
 ~~~~~~

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/docs/modules/rbda.rst

@@ -10,49 +10,29 @@ This module provides a set of algorithms for rigid body dynamics.
 
     aba
     collidable_points
+    contacts.soft
     crba
     forward_kinematics
     jacobian
     utils
 
-Articulated Body Algorithm
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.aba
-    :members:
-
 Collision Detection
 ~~~~~~~~~~~~~~~~~~~
 
 .. automodule:: jaxsim.rbda.collidable_points
     :members:
+    :no-index:
 
 Contact Models
 ~~~~~~~~~~~~~~
 
 .. automodule:: jaxsim.rbda.contacts.soft
     :members:
-
-Composite Rigid Body Algorithm
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.crba
-    :members:
-
-Forward Kinematics
-~~~~~~~~~~~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.forward_kinematics
-    :members:
-
-Jacobians
-~~~~~~~~~
-
-.. automodule:: jaxsim.rbda.jacobian
-    :members:
+    :no-index:
 
 Utilities
 ~~~~~~~~~
 
 .. automodule:: jaxsim.rbda.utils
     :members:
+    :no-index:

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/environment.yml

@@ -38,6 +38,7 @@ dependencies:
   - filecache
   - filelock
   - jinja2
+  - myst-nb
   - pip
   - sphinx
   - sphinx-autodoc-typehints
@@ -45,6 +46,7 @@ dependencies:
   - sphinx-copybutton
   - sphinx-design
   - sphinx_fontawesome
+  - sphinx-gallery
   - sphinx-jinja2-compat
   - sphinx-multiversion
   - sphinx_rtd_theme
@@ -52,4 +54,7 @@ dependencies:
   # ========================================
   # Other dependencies for GitHub Codespaces
   # ========================================
+  - mesalib
   - ipython
+  - pip:
+    - sphinx-collections # TODO (flferretti): PR to conda-forge

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/examples/PD_controller.ipynb

@@ -21,6 +21,7 @@
    "source": [
     "# @title Imports and setup\n",
     "from IPython.display import clear_output\n",
+    "import os\n",
     "import sys\n",
     "\n",
     "IS_COLAB = \"google.colab\" in sys.modules\n",
@@ -34,16 +35,18 @@
     "    !apt -qq update\n",
     "    !apt install -qq --no-install-recommends libsdformat13 gz-tools2\n",
     "\n",
-    "    # Optional dependency for visualization\n",
+    "    # Install dependencies for visualization on Colab and ReadTheDocs\n",
+    "    !sudo apt update\n",
+    "    !apt install xvfb ffmpeg python-opengl\n",
     "    !{sys.executable} -m pip install pyvirtualdisplay\n",
-    "    !apt install xvfb\n",
+    "    clear_output()\n",
     "\n",
     "    # Start Xvfb and set \"DISPLAY\" environment variable\n",
     "    import pyvirtualdisplay\n",
+    "\n",
     "    d = pyvirtualdisplay.Display()\n",
     "    d.start()\n",
     "\n",
-    "    clear_output()\n",
     "\n",
     "import jax\n",
     "import jax.numpy as jnp\n",
@@ -151,19 +154,11 @@
    "outputs": [],
    "source": [
     "# @title Set up MuJoCo renderer\n",
-    "\n",
-    "from jaxsim.mujoco import MujocoModelHelper, MujocoVideoRecorder\n",
-    "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
-    "\n",
-    "import os\n",
     "import subprocess\n",
     "\n",
+    "os.environ[\"MUJOCO_GL\"] = \"osmesa\"\n",
     "\n",
     "if IS_COLAB:\n",
-    "    if subprocess.run(\"ffmpeg -version\", shell=True).returncode:\n",
-    "        !command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "        clear_output()\n",
-    "\n",
     "    if subprocess.run(\"nvidia-smi\").returncode:\n",
     "        raise RuntimeError(\n",
     "            \"Cannot communicate with GPU. \"\n",
@@ -188,7 +183,11 @@
     "  \"\"\"\n",
     "            )\n",
     "\n",
-    "%env MUJOCO_GL=egl\n",
+    "    os.environ[\"MUJOCO_GL\"] = \"egl\"\n",
+    "\n",
+    "\n",
+    "from jaxsim.mujoco import MujocoModelHelper, MujocoVideoRecorder\n",
+    "from jaxsim.mujoco.loaders import UrdfToMjcf\n",
     "\n",
     "camera = {\n",
     "    \"name\": \"cartpole_camera\",\n",
@@ -209,8 +208,8 @@
     "    model=mj_model_helper.model,\n",
     "    data=mj_model_helper.data,\n",
     "    fps=int(1 / 0.010),\n",
-    "    width=320 * 4,\n",
-    "    height=240 * 4,\n",
+    "    width=320 * 2,\n",
+    "    height=240 * 2,\n",
     ")"
    ]
   },

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/examples/README.md

@@ -5,11 +5,10 @@ This folder includes a Jupyter Notebook demonstrating the practical usage of JAX
 ### Examples
 
 - [PD_controller](./PD_controller.ipynb) <a target="_blank" href="https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/PD_controller.ipynb">
-  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
-</a> - A simple example demonstrating the use of JAXsim to simulate a PD controller with gravity compensation for a 2-DOF cartpole.
+  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/> </a> - A simple example demonstrating the use of JAXsim to simulate a PD controller with gravity compensation for a 2-DOF cartpole.
+
 - [Parallel_computing](./Parallel_computing.ipynb) <a target="_blank" href="https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/Parallel_computing.ipynb">
-  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/>
-</a> - An example demonstrating how to simulate vectorized models in parallel using JAXsim.
+  <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/> </a> - An example demonstrating how to simulate vectorized models in parallel using JAXsim.
 
 > [!TIP]
 > Stay tuned for more examples!

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.3.1.dev94'
-__version_tuple__ = version_tuple = (0, 3, 1, 'dev94')
+__version__ = version = '0.3.1.dev113'
+__version_tuple__ = version_tuple = (0, 3, 1, 'dev113')

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/src/jaxsim/typing.py

@@ -1,5 +1,5 @@
 from collections.abc import Hashable
-from typing import Any
+from typing import Any, TypeVar
 
 import jax
 
@@ -17,7 +17,12 @@ 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
 )
 
 # =======================

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev113}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev94
+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.dev94 → jaxsim-0.3.1.dev113}/src/jaxsim.egg-info/SOURCES.txt

@@ -18,11 +18,11 @@ setup.py
 .github/workflows/style.yml
 docs/Makefile
 docs/conf.py
+docs/examples.rst
 docs/index.rst
 docs/make.bat
 docs/guide/install.rst
 docs/modules/api.rst
-docs/modules/index.rst
 docs/modules/integrators.rst
 docs/modules/math.rst
 docs/modules/mujoco.rst

jaxsim-0.3.1.dev94/docs/conf.py

@@ -1,74 +0,0 @@
-# Configuration file for the Sphinx documentation builder.
-import os
-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)
-    )
-
-import jaxsim
-
-# -- Version information
-
-sys.path.insert(0, os.path.abspath("."))
-sys.path.insert(0, os.path.abspath("../"))
-sys.path.insert(0, os.path.abspath("../../"))
-
-module_path = os.path.abspath("../src/")
-sys.path.insert(0, module_path)
-
-__version__ = get_distribution("jaxsim").version
-
-# -- Project information
-
-project = "JAXsim"
-copyright = "2022, Artificial and Mechanical Intelligence"
-author = "Artificial and Mechanical Intelligence"
-
-release = f"{__version__}"
-version = f"main ({__version__})"
-
-# -- General configuration
-
-extensions = [
-    "sphinx.ext.duration",
-    "sphinx.ext.doctest",
-    "sphinx.ext.autodoc",
-    "sphinx.ext.autosummary",
-    "sphinx.ext.intersphinx",
-    "sphinx.ext.mathjax",
-    "sphinx.ext.ifconfig",
-    "sphinx.ext.viewcode",
-    "sphinx_rtd_theme",
-    "sphinx.ext.napoleon",
-    "sphinx_autodoc_typehints",
-    "sphinx_multiversion",
-    "enum_tools.autoenum",
-    "sphinx_design",
-]
-
-# -- Options for intersphinx extension
-
-language = "en"
-
-html_theme = "sphinx_book_theme"
-
-templates_path = ["_templates"]
-
-html_title = f"JAXsim {version}"
-
-master_doc = "index"
-
-autodoc_typehints_format = "short"
-
-exclude_patterns = ["_build"]
-
-autodoc_typehints = "signature"
-
-autosummary_generate = False
-
-epub_show_urls = "footnote"

jaxsim-0.3.1.dev94/docs/modules/index.rst

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