jaxsim 0.5.1.dev12__tar.gz → 0.5.1.dev17__tar.gz

{jaxsim-0.5.1.dev12 → jaxsim-0.5.1.dev17}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev12
+Version: 0.5.1.dev17
 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.dev12 → jaxsim-0.5.1.dev17}/pyproject.toml

@@ -268,3 +268,6 @@ cuda-version = "12.*"
 # Pinning a specific version awaiting the following to get addressed:
 # https://github.com/conda-forge/jaxlib-feedstock/issues/285
 jaxlib = { version = "<0.4.31", build = "*cuda*" }
+
+[tool.pixi.feature.gpu.tasks]
+gpu-tests = { cmd = "pytest --gpu-only", depends_on = ["pipcheck"] }

{jaxsim-0.5.1.dev12 → jaxsim-0.5.1.dev17}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev12'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev12')
+__version__ = version = '0.5.1.dev17'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev17')

{jaxsim-0.5.1.dev12 → jaxsim-0.5.1.dev17}/src/jaxsim/rbda/contacts/relaxed_rigid.py

@@ -461,8 +461,8 @@ class RelaxedRigidContacts(common.ContactModel):
                 terrain=model.terrain,
                 K=1e6,
                 D=2e3,
-                p=0.0,
-                q=0.0,
+                p=0.5,
+                q=0.5,
                 # No tangential initial forces.
                 mu=0.0,
                 tangential_deformation=jnp.zeros(3),

{jaxsim-0.5.1.dev12 → jaxsim-0.5.1.dev17}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev12
+Version: 0.5.1.dev17
 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.dev12 → jaxsim-0.5.1.dev17}/tests/conftest.py

@@ -1,5 +1,6 @@
 import os
 import pathlib
+import subprocess
 
 import jax
 import pytest
@@ -11,7 +12,45 @@ import jaxsim
 import jaxsim.api as js
 
 
-def pytest_configure() -> None:
+def pytest_addoption(parser):
+    parser.addoption(
+        "--gpu-only",
+        action="store_true",
+        default=False,
+        help="Run tests only if GPU is available and utilized",
+    )
+
+
+def check_gpu_usage():
+    # Set environment variable to prioritize GPU.
+    os.environ["JAX_PLATFORM_NAME"] = "gpu"
+
+    # Run a simple JAX operation
+    x = jax.device_put(jax.numpy.ones((512, 512)))
+    y = jax.device_put(jax.numpy.ones((512, 512)))
+    _ = jax.numpy.dot(x, y).block_until_ready()
+
+    # Check GPU memory usage with nvidia-smi.
+    result = subprocess.run(
+        ["nvidia-smi", "--query-gpu=memory.used", "--format=csv,noheader"],
+        capture_output=True,
+        text=True,
+    )
+    if result.returncode != 0:
+        pytest.exit(
+            "Failed to query GPU usage. Ensure nvidia-smi is installed and accessible."
+        )
+
+    gpu_memory_usage = [
+        int(line.strip().split()[0]) for line in result.stdout.splitlines()
+    ]
+    if all(usage == 0 for usage in gpu_memory_usage):
+        pytest.exit(
+            "GPU is available but not utilized during computations. Check your JAX installation."
+        )
+
+
+def pytest_configure(config) -> None:
     """Pytest configuration hook."""
 
     # This is a global variable that is updated by the `prng_key` fixture.
@@ -19,6 +58,15 @@ def pytest_configure() -> None:
         seed=int(os.environ.get("JAXSIM_TEST_SEED", 0))
     )
 
+    # Check if GPU is available and utilized.
+    if config.getoption("--gpu-only"):
+        devices = jax.devices()
+        if not any(device.platform == "gpu" for device in devices):
+            pytest.exit("No GPU devices found. Check your JAX installation.")
+
+        # Ensure GPU is being used during computation
+        check_gpu_usage()
+
 
 # ================
 # Generic fixtures