jaxsim 0.5.1.dev143__tar.gz → 0.5.1.dev152__tar.gz

{jaxsim-0.5.1.dev143 → jaxsim-0.5.1.dev152}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.5.1.dev143
+Version: 0.5.1.dev152
 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>
@@ -237,16 +237,30 @@ You can enforce GPU support, if needed, by also specifying `"jaxlib = * = *cuda*
 <details>
 <summary>With <code>pixi</code></summary>
 
-> [!NOTE]
+> ### Note
 > The minimum version of `pixi` required is `0.39.0`.
 
-You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+You can add the jaxsim dependency in [`pixi`][pixi] project as follows:
 
 ```bash
-pixi install
+pixi add jaxsim
 ```
 
-See `pixi task list` for a list of available tasks.
+If you are on Linux and you want to use a `cuda`-powered version of `jax`, remember to add the appropriate line in the [`system-requirements`](https://pixi.sh/latest/reference/pixi_manifest/#the-system-requirements-table) table, i.e. adding
+
+~~~toml
+[system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pixi.toml` file or
+
+~~~toml
+[tool.pixi.system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pyproject.toml` file.
 
 </details>
 
@@ -267,7 +281,7 @@ If you need GPU support, follow the official [installation instructions][jax_gpu
 </details>
 
 <details>
-<summary>Contributors installation</summary>
+<summary>Contributors installation (with <code>conda</code>)</summary>
 
 If you want to contribute to the project, we recommend creating the following `jaxsim` conda environment first:
 
@@ -284,6 +298,22 @@ pip install --no-deps -e .
 
 </details>
 
+<details>
+<summary>Contributors installation (with <code>pixi</code>)</summary>
+
+> ### Note
+> The minimum version of `pixi` required is `0.39.0`.
+
+You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+
+```bash
+pixi install
+```
+
+See `pixi task list` for a list of available tasks.
+
+</details>
+
 [conda]: https://anaconda.org/
 [pip]: https://github.com/pypa/pip/
 [pixi]: https://pixi.sh/

{jaxsim-0.5.1.dev143 → jaxsim-0.5.1.dev152}/README.md

@@ -145,16 +145,30 @@ You can enforce GPU support, if needed, by also specifying `"jaxlib = * = *cuda*
 <details>
 <summary>With <code>pixi</code></summary>
 
-> [!NOTE]
+> ### Note
 > The minimum version of `pixi` required is `0.39.0`.
 
-You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+You can add the jaxsim dependency in [`pixi`][pixi] project as follows:
 
 ```bash
-pixi install
+pixi add jaxsim
 ```
 
-See `pixi task list` for a list of available tasks.
+If you are on Linux and you want to use a `cuda`-powered version of `jax`, remember to add the appropriate line in the [`system-requirements`](https://pixi.sh/latest/reference/pixi_manifest/#the-system-requirements-table) table, i.e. adding
+
+~~~toml
+[system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pixi.toml` file or
+
+~~~toml
+[tool.pixi.system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pyproject.toml` file.
 
 </details>
 
@@ -175,7 +189,7 @@ If you need GPU support, follow the official [installation instructions][jax_gpu
 </details>
 
 <details>
-<summary>Contributors installation</summary>
+<summary>Contributors installation (with <code>conda</code>)</summary>
 
 If you want to contribute to the project, we recommend creating the following `jaxsim` conda environment first:
 
@@ -192,6 +206,22 @@ pip install --no-deps -e .
 
 </details>
 
+<details>
+<summary>Contributors installation (with <code>pixi</code>)</summary>
+
+> ### Note
+> The minimum version of `pixi` required is `0.39.0`.
+
+You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+
+```bash
+pixi install
+```
+
+See `pixi task list` for a list of available tasks.
+
+</details>
+
 [conda]: https://anaconda.org/
 [pip]: https://github.com/pypa/pip/
 [pixi]: https://pixi.sh/

{jaxsim-0.5.1.dev143 → jaxsim-0.5.1.dev152}/examples/jaxsim_for_robot_controllers.ipynb

@@ -111,10 +111,12 @@
    "source": [
     "# @title Load the URDF model\n",
     "import pathlib\n",
+    "import urllib\n",
     "\n",
-    "model_urdf_string = pathlib.Path(\n",
-    "    os.path.abspath(\"\") + \"/assets/cartpole.urdf\"\n",
-    ").read_text()"
+    "# Retrieve the file\n",
+    "url = \"https://raw.githubusercontent.com/ami-iit/jaxsim/refs/heads/main/examples/assets/cartpole.urdf\"\n",
+    "model_path, _ = urllib.request.urlretrieve(url)\n",
+    "model_urdf_string = pathlib.Path(model_path).read_text()"
    ]
   },
   {
@@ -435,6 +437,11 @@
     "\n",
     "Additionally, if your controllers or planners require the derivatives of the dynamics with respect to the state or inputs, you can obtain them using automatic differentiation directly through JaxSim's API."
    ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": []
   }
  ],
  "metadata": {
@@ -459,7 +466,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.12.7"
+   "version": "3.13.1"
   }
  },
  "nbformat": 4,

{jaxsim-0.5.1.dev143 → jaxsim-0.5.1.dev152}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev143'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev143')
+__version__ = version = '0.5.1.dev152'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev152')

{jaxsim-0.5.1.dev143 → jaxsim-0.5.1.dev152}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.5.1.dev143
+Version: 0.5.1.dev152
 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>
@@ -237,16 +237,30 @@ You can enforce GPU support, if needed, by also specifying `"jaxlib = * = *cuda*
 <details>
 <summary>With <code>pixi</code></summary>
 
-> [!NOTE]
+> ### Note
 > The minimum version of `pixi` required is `0.39.0`.
 
-You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+You can add the jaxsim dependency in [`pixi`][pixi] project as follows:
 
 ```bash
-pixi install
+pixi add jaxsim
 ```
 
-See `pixi task list` for a list of available tasks.
+If you are on Linux and you want to use a `cuda`-powered version of `jax`, remember to add the appropriate line in the [`system-requirements`](https://pixi.sh/latest/reference/pixi_manifest/#the-system-requirements-table) table, i.e. adding
+
+~~~toml
+[system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pixi.toml` file or
+
+~~~toml
+[tool.pixi.system-requirements]
+cuda = "12"
+~~~
+
+if you are using a `pyproject.toml` file.
 
 </details>
 
@@ -267,7 +281,7 @@ If you need GPU support, follow the official [installation instructions][jax_gpu
 </details>
 
 <details>
-<summary>Contributors installation</summary>
+<summary>Contributors installation (with <code>conda</code>)</summary>
 
 If you want to contribute to the project, we recommend creating the following `jaxsim` conda environment first:
 
@@ -284,6 +298,22 @@ pip install --no-deps -e .
 
 </details>
 
+<details>
+<summary>Contributors installation (with <code>pixi</code>)</summary>
+
+> ### Note
+> The minimum version of `pixi` required is `0.39.0`.
+
+You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+
+```bash
+pixi install
+```
+
+See `pixi task list` for a list of available tasks.
+
+</details>
+
 [conda]: https://anaconda.org/
 [pip]: https://github.com/pypa/pip/
 [pixi]: https://pixi.sh/