jaxsim 0.5.1.dev126__py3-none-any.whl → 0.5.1.dev139__py3-none-any.whl

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.dev139.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev126
+Version: 0.5.1.dev139
 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>

jaxsim-0.5.1.dev139.dist-info/RECORD

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jaxsim-0.5.1.dev126.dist-info/RECORD

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