jaxsim 0.4.2.dev47__tar.gz → 0.4.3.dev8__tar.gz

jaxsim-0.4.3.dev8/.github/workflows/update_pixi_lockfile.yml

@@ -0,0 +1,48 @@
+name: Update pixi lockfile
+
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: 0 5 1 * *
+
+jobs:
+  pixi-update:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+
+      - name: Set up pixi
+        uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          run-install: false
+
+      - name: Install pixi-diff-to-markdown
+        run: pixi global install pixi-diff-to-markdown
+
+      - name: Update pixi lockfile and generate diff
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown --explicit-column > diff.md
+
+      - name: Commit and push changes
+        run: |
+          echo "BRANCH_NAME=update-pixi-$(date +'%Y%m%d%H%M%S')" >> $GITHUB_ENV
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v6
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: Update `pixi.lock`
+          title: Update `pixi` lockfile
+          body-path: diff.md
+          branch: ${{ env.BRANCH_NAME }}
+          base: main
+          labels: pixi
+          add-paths: pixi.lock
+          delete-branch: true

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.2.dev47
+Version: 0.4.3.dev8
 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>

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/pyproject.toml

@@ -206,10 +206,14 @@ 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.feature.gpu.dependencies]
+cuda-cupti = "*"
+cuda-version = "12.*"
+jaxlib = {version = "*", build = "*cuda*"}
+
 [tool.pixi.pypi-dependencies]
 jaxsim = { path = "./", editable = true }
 

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.2.dev47'
-__version_tuple__ = version_tuple = (0, 4, 2, 'dev47')
+__version__ = version = '0.4.3.dev8'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev8')

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/src/jaxsim/rbda/crba.py

@@ -59,10 +59,14 @@ def crba(model: js.model.JaxSimModel, *, joint_positions: jtp.Vector) -> jtp.Mat
 
         return (i_X_0,), None
 
-    (i_X_0,), _ = jax.lax.scan(
-        f=propagate_kinematics,
-        init=forward_pass_carry,
-        xs=jnp.arange(start=1, stop=model.number_of_links()),
+    (i_X_0,), _ = (
+        jax.lax.scan(
+            f=propagate_kinematics,
+            init=forward_pass_carry,
+            xs=jnp.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [(i_X_0,), None]
     )
 
     # ===================
@@ -128,10 +132,14 @@ def crba(model: js.model.JaxSimModel, *, joint_positions: jtp.Vector) -> jtp.Mat
                 operand=carry,
             )
 
-        (j, Fi, M), _ = jax.lax.scan(
-            f=inner_fn,
-            init=carry_inner_fn,
-            xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
+        (j, Fi, M), _ = (
+            jax.lax.scan(
+                f=inner_fn,
+                init=carry_inner_fn,
+                xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
+            )
+            if model.number_of_links() > 1
+            else [(j, Fi, M), None]
         )
 
         Fi = i_X_0[j].T @ Fi
@@ -143,10 +151,14 @@ def crba(model: js.model.JaxSimModel, *, joint_positions: jtp.Vector) -> jtp.Mat
 
     # This scan performs the backward pass to compute Mbj, Mjb and Mjj, that
     # also includes a fake while loop implemented with a scan and two cond.
-    (Mc, M), _ = jax.lax.scan(
-        f=backward_pass,
-        init=backward_pass_carry,
-        xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
+    (Mc, M), _ = (
+        jax.lax.scan(
+            f=backward_pass,
+            init=backward_pass_carry,
+            xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
+        )
+        if model.number_of_links() > 1
+        else [(Mc, M), None]
     )
 
     # Store the locked 6D rigid-body inertia matrix Mbb ∈ ℝ⁶ˣ⁶.

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/src/jaxsim/rbda/forward_kinematics.py

@@ -75,10 +75,14 @@ def forward_kinematics_model(
 
         return (W_X_i,), None
 
-    (W_X_i,), _ = jax.lax.scan(
-        f=propagate_kinematics,
-        init=propagate_kinematics_carry,
-        xs=jnp.arange(start=1, stop=model.number_of_links()),
+    (W_X_i,), _ = (
+        jax.lax.scan(
+            f=propagate_kinematics,
+            init=propagate_kinematics_carry,
+            xs=jnp.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [(W_X_i,), None]
     )
 
     return jax.vmap(Adjoint.to_transform)(W_X_i)

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/src/jaxsim/rbda/jacobian.py

@@ -67,10 +67,14 @@ def jacobian(
 
         return (i_X_0,), None
 
-    (i_X_0,), _ = jax.lax.scan(
-        f=propagate_kinematics,
-        init=propagate_kinematics_carry,
-        xs=np.arange(start=1, stop=model.number_of_links()),
+    (i_X_0,), _ = (
+        jax.lax.scan(
+            f=propagate_kinematics,
+            init=propagate_kinematics_carry,
+            xs=np.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [(i_X_0,), None]
     )
 
     # ============================
@@ -105,10 +109,14 @@ def jacobian(
 
         return J, None
 
-    L_J_WL_B, _ = jax.lax.scan(
-        f=compute_jacobian,
-        init=J,
-        xs=np.arange(start=1, stop=model.number_of_links()),
+    L_J_WL_B, _ = (
+        jax.lax.scan(
+            f=compute_jacobian,
+            init=J,
+            xs=np.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [J, None]
     )
 
     return L_J_WL_B
@@ -184,10 +192,14 @@ def jacobian_full_doubly_left(
 
         return (B_X_i, J), None
 
-    (B_X_i, J), _ = jax.lax.scan(
-        f=compute_full_jacobian,
-        init=compute_full_jacobian_carry,
-        xs=np.arange(start=1, stop=model.number_of_links()),
+    (B_X_i, J), _ = (
+        jax.lax.scan(
+            f=compute_full_jacobian,
+            init=compute_full_jacobian_carry,
+            xs=np.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [(B_X_i, J), None]
     )
 
     # Convert adjoints to SE(3) transforms.

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.2.dev47
+Version: 0.4.3.dev8
 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>

{jaxsim-0.4.2.dev47 → jaxsim-0.4.3.dev8}/src/jaxsim.egg-info/SOURCES.txt

@@ -14,6 +14,7 @@ setup.py
 .github/CODEOWNERS
 .github/workflows/ci_cd.yml
 .github/workflows/read_the_docs.yml
+.github/workflows/update_pixi_lockfile.yml
 docs/Makefile
 docs/conf.py
 docs/examples.rst