jaxsim 0.3.1.dev94__tar.gz → 0.3.1.dev119__tar.gz

{jaxsim-0.3.1.dev94 → jaxsim-0.3.1.dev119}/.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.dev119}/.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/src/jaxsim.egg-info → jaxsim-0.3.1.dev119}/PKG-INFO

@@ -1,16 +1,44 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev94
-Home-page: https://github.com/ami-iit/jaxsim
-Author: Diego Ferigo
-Author-email: diego.ferigo@iit.it
-License: BSD
+Version: 0.3.1.dev119
+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.dev94/PKG-INFO → jaxsim-0.3.1.dev119/README.md

@@ -1,69 +1,3 @@
-Metadata-Version: 2.1
-Name: jaxsim
-Version: 0.3.1.dev94
-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.dev119/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.dev119/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.dev119}/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