jaxsim 0.5.1.dev126__py3-none-any.whl → 0.5.1.dev133__py3-none-any.whl

jaxsim/rbda/contacts/relaxed_rigid.py

@@ -112,7 +112,7 @@ class RelaxedRigidContactsParams(common.ContactsParams):
         damping: jtp.FloatLike | None = None,
         mu: jtp.FloatLike | None = None,
     ) -> Self:
-        """Create a `RelaxedRigidContactsParams` instance"""
+        """Create a `RelaxedRigidContactsParams` instance."""
 
         def default(name: str):
             return cls.__dataclass_fields__[name].default_factory()
@@ -160,6 +160,7 @@ class RelaxedRigidContactsParams(common.ContactsParams):
         )
 
     def valid(self) -> jtp.BoolLike:
+        """Check if the parameters are valid."""
 
         return bool(
             jnp.all(self.time_constant >= 0.0)
@@ -187,6 +188,7 @@ class RelaxedRigidContacts(common.ContactModel):
 
     @property
     def solver_options(self) -> dict[str, Any]:
+        """Get the solver options."""
 
         return dict(
             zip(
@@ -207,6 +209,7 @@ class RelaxedRigidContacts(common.ContactModel):
 
         Args:
             solver_options: The options to pass to the L-BFGS solver.
+            **kwargs: The parameters of the relaxed rigid contacts model.
 
         Returns:
             The `RelaxedRigidContacts` instance.
@@ -483,8 +486,8 @@ class RelaxedRigidContacts(common.ContactModel):
 
         Args:
             model: The jaxsim model.
-            penetration: The point position in the constraint frame.
-            velocity: The point velocity in the constraint frame.
+            position_constraint: The position of the collidable points in the constraint frame.
+            velocity_constraint: The velocity of the collidable points in the constraint frame.
             parameters: The parameters of the relaxed rigid contacts model.
 
         Returns:
@@ -526,7 +529,7 @@ class RelaxedRigidContacts(common.ContactModel):
             vel: jtp.Vector,
         ) -> tuple[jtp.Vector, jtp.Vector, jtp.Vector, jtp.Vector]:
             """
-            Calculates impedance and offset acceleration in constraint frame.
+            Calculate impedance and offset acceleration in constraint frame.
 
             Args:
                 pos: position in constraint frame.

jaxsim/rbda/contacts/rigid.py

@@ -62,7 +62,7 @@ class RigidContactsParams(ContactsParams):
         K: jtp.FloatLike | None = None,
         D: jtp.FloatLike | None = None,
     ) -> Self:
-        """Create a `RigidContactParams` instance"""
+        """Create a `RigidContactParams` instance."""
 
         return cls(
             mu=jnp.array(
@@ -79,7 +79,7 @@ class RigidContactsParams(ContactsParams):
         )
 
     def valid(self) -> jtp.BoolLike:
-
+        """Check if the parameters are valid."""
         return bool(
             jnp.all(self.mu >= 0.0)
             and jnp.all(self.K >= 0.0)
@@ -104,6 +104,7 @@ class RigidContacts(ContactModel):
 
     @property
     def solver_options(self) -> dict[str, Any]:
+        """Get the solver options as a dictionary."""
 
         return dict(
             zip(
@@ -127,6 +128,7 @@ class RigidContacts(ContactModel):
             regularization_delassus:
                 The regularization term to add to the diagonal of the Delassus matrix.
             solver_options: The options to pass to the QP solver.
+            **kwargs: Extra arguments which are ignored.
 
         Returns:
             The `RigidContacts` instance.
@@ -173,7 +175,8 @@ class RigidContacts(ContactModel):
         J_WC: jtp.MatrixLike,
         data: js.data.JaxSimModelData,
     ) -> jtp.Vector:
-        """Returns the new velocity of the system after a potential impact.
+        """
+        Return the new velocity of the system after a potential impact.
 
         Args:
             inactive_collidable_points: The activation state of the collidable points.
@@ -413,7 +416,8 @@ class RigidContacts(ContactModel):
         inactive_collidable_points: jtp.Vector, mu: jtp.FloatLike
     ) -> jtp.Matrix:
         """
-        Compute the inequality constraint matrix for a single collidable point
+        Compute the inequality constraint matrix for a single collidable point.
+
         Rows 0-3: enforce the friction pyramid constraint,
         Row 4: last one is for the non negativity of the vertical force
         Row 5: contact complementarity condition

jaxsim/rbda/contacts/soft.py

@@ -207,6 +207,7 @@ class SoftContacts(common.ContactModel):
             model:
                 The robot model considered by the contact model.
                 If passed, it is used to estimate good default parameters.
+            **kwargs: Additional parameters to pass to the contact model.
 
         Returns:
             The `SoftContacts` instance.
@@ -244,6 +245,28 @@ class SoftContacts(common.ContactModel):
         p: jtp.FloatLike = 0.5,
         q: jtp.FloatLike = 0.5,
     ) -> tuple[jtp.Vector, jtp.Vector]:
+        """
+        Compute the contact force using the Hunt/Crossley model.
+
+        Args:
+            position: The position of the collidable point.
+            velocity: The velocity of the collidable point.
+            tangential_deformation: The material deformation of the collidable point.
+            terrain: The terrain model.
+            K: The stiffness parameter.
+            D: The damping parameter of the soft contacts model.
+            mu: The static friction coefficient.
+            p:
+                The exponent p corresponding to the damping-related non-linearity
+                of the Hunt/Crossley model.
+            q:
+                The exponent q corresponding to the spring-related non-linearity
+                of the Hunt/Crossley model
+
+        Returns:
+            A tuple containing the computed contact force and the derivative of the
+            material deformation.
+        """
 
         # Convert the input vectors to arrays.
         W_p_C = jnp.array(position, dtype=float).squeeze()
@@ -364,6 +387,20 @@ class SoftContacts(common.ContactModel):
         parameters: SoftContactsParams,
         terrain: Terrain,
     ) -> tuple[jtp.Vector, jtp.Vector]:
+        """
+        Compute the contact force.
+
+        Args:
+            position: The position of the collidable point.
+            velocity: The velocity of the collidable point.
+            tangential_deformation: The material deformation of the collidable point.
+            parameters: The parameters of the soft contacts model.
+            terrain: The terrain model.
+
+        Returns:
+            A tuple containing the computed contact force and the derivative of the
+            material deformation.
+        """
 
         CW_fl, ṁ = SoftContacts.hunt_crossley_contact_model(
             position=position,

jaxsim/rbda/contacts/visco_elastic.py

@@ -206,6 +206,7 @@ class ViscoElasticContacts(common.ContactModel):
                 If passed, it is used to estimate good default parameters.
             max_squarings:
                 The maximum number of squarings performed in the matrix exponential.
+            **kwargs: Extra arguments to ignore.
 
         Returns:
             The `ViscoElasticContacts` instance.

jaxsim/terrain/terrain.py

@@ -13,11 +13,28 @@ from jaxsim import exceptions
 
 
 class Terrain(abc.ABC):
+    """
+    Base class for terrain models.
+
+    Attributes:
+        delta: The delta value used for numerical differentiation.
+    """
 
     delta = 0.010
 
     @abc.abstractmethod
     def height(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Float:
+        """
+        Compute the height of the terrain at a specific (x, y) location.
+
+        Args:
+            x: The x-coordinate of the location.
+            y: The y-coordinate of the location.
+
+        Returns:
+            The height of the terrain at the specified location.
+        """
+
         pass
 
     def normal(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Vector:
@@ -47,19 +64,51 @@ class Terrain(abc.ABC):
 
 @jax_dataclasses.pytree_dataclass
 class FlatTerrain(Terrain):
+    """
+    Represents a terrain model with a flat surface and a constant height.
+    """
 
     _height: float = dataclasses.field(default=0.0, kw_only=True)
 
     @staticmethod
     def build(height: jtp.FloatLike = 0.0) -> FlatTerrain:
+        """
+        Create a FlatTerrain instance with a specified height.
+
+        Args:
+            height: The height of the flat terrain.
+
+        Returns:
+            FlatTerrain: A FlatTerrain instance.
+        """
 
         return FlatTerrain(_height=float(height))
 
     def height(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Float:
+        """
+        Compute the height of the terrain at a specific (x, y) location.
+
+        Args:
+            x: The x-coordinate of the location.
+            y: The y-coordinate of the location.
+
+        Returns:
+            The height of the terrain at the specified location.
+        """
 
         return jnp.array(self._height, dtype=float)
 
     def normal(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Vector:
+        """
+        Compute the normal vector of the terrain at a specific (x, y) location.
+
+        Args:
+            x: The x-coordinate of the location.
+            y: The y-coordinate of the location.
+
+        Returns:
+            The normal vector of the terrain surface at the specified location.
+        """
 
         return jnp.array([0.0, 0.0, 1.0], dtype=float)
 
@@ -77,6 +126,9 @@ class FlatTerrain(Terrain):
 
 @jax_dataclasses.pytree_dataclass
 class PlaneTerrain(FlatTerrain):
+    """
+    Represents a terrain model with a flat surface defined by a normal vector.
+    """
 
     _normal: tuple[float, float, float] = jax_dataclasses.field(
         default=(0.0, 0.0, 1.0), kw_only=True

jaxsim/utils/jaxsim_dataclass.py

@@ -124,7 +124,7 @@ class JaxsimDataclass(abc.ABC):
     @staticmethod
     def get_leaf_shapes(tree: jtp.PyTree) -> tuple[tuple[int, ...] | None]:
         """
-        Helper method to get the leaf shapes of a PyTree.
+        Get the leaf shapes of a PyTree.
 
         Args:
             tree: The PyTree to consider.
@@ -144,7 +144,7 @@ class JaxsimDataclass(abc.ABC):
     @staticmethod
     def get_leaf_dtypes(tree: jtp.PyTree) -> tuple:
         """
-        Helper method to get the leaf dtypes of a PyTree.
+        Get the leaf dtypes of a PyTree.
 
         Args:
             tree: The PyTree to consider.
@@ -164,7 +164,7 @@ class JaxsimDataclass(abc.ABC):
     @staticmethod
     def get_leaf_weak_types(tree: jtp.PyTree) -> tuple[bool, ...]:
         """
-        Helper method to get the leaf weak types of a PyTree.
+        Get the leaf weak types of a PyTree.
 
         Args:
             tree: The PyTree to consider.

jaxsim/utils/tracing.py

@@ -6,7 +6,7 @@ import jax.interpreters.partial_eval
 
 
 def tracing(var: Any) -> bool | jax.Array:
-    """Returns True if the variable is being traced by JAX, False otherwise."""
+    """Return True if the variable is being traced by JAX, False otherwise."""
 
     return isinstance(
         var, jax._src.core.Tracer | jax.interpreters.partial_eval.DynamicJaxprTracer
@@ -14,6 +14,6 @@ def tracing(var: Any) -> bool | jax.Array:
 
 
 def not_tracing(var: Any) -> bool | jax.Array:
-    """Returns True if the variable is not being traced by JAX, False otherwise."""
+    """Return True if the variable is not being traced by JAX, False otherwise."""
 
     return True if tracing(var) is False else False

jaxsim/utils/wrappers.py

@@ -25,6 +25,9 @@ class HashlessObject(Generic[T]):
     obj: T
 
     def get(self: HashlessObject[T]) -> T:
+        """
+        Get the wrapped object.
+        """
         return self.obj
 
     def __hash__(self) -> int:
@@ -52,6 +55,9 @@ class CustomHashedObject(Generic[T]):
     hash_function: Callable[[T], int] = hash
 
     def get(self: CustomHashedObject[T]) -> T:
+        """
+        Get the wrapped object.
+        """
         return self.obj
 
     def __hash__(self) -> int:
@@ -93,6 +99,9 @@ class HashedNumpyArray:
     )
 
     def get(self) -> jax.Array | npt.NDArray:
+        """
+        Get the wrapped array.
+        """
         return self.array
 
     def __hash__(self) -> int:

{jaxsim-0.5.1.dev126.dist-info → jaxsim-0.5.1.dev133.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev126
+Version: 0.5.1.dev133
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
 Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>

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jaxsim-0.5.1.dev126.dist-info/RECORD

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