jaxsim 0.5.1.dev60__tar.gz → 0.5.1.dev69__tar.gz

{jaxsim-0.5.1.dev60 → jaxsim-0.5.1.dev69}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev60
+Version: 0.5.1.dev69
 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.dev69/docs/guide/configuration.rst

@@ -0,0 +1,55 @@
+Configuration
+=============
+
+JaxSim utilizes environment variables for application configuration. Below is a detailed overview of the various configuration categories and their respective variables.
+
+
+Collision Dynamics
+~~~~~~~~~~~~~~~~~~
+
+Environment variables starting with ``JAXSIM_COLLISION_`` are used to configure collision dynamics. The available variables are:
+
+- ``JAXSIM_COLLISION_SPHERE_POINTS``: Specifies the number of collision points to approximate the sphere.
+  *Default:* ``50``.
+
+- ``JAXSIM_COLLISION_MESH_ENABLED``: Enables or disables mesh-based collision detection.
+  *Default:* ``False``.
+
+- ``JAXSIM_COLLISION_USE_BOTTOM_ONLY``: Limits collision detection to only the bottom half of the box or sphere.
+  *Default:* ``False``.
+
+.. note::
+  The bottom half is defined as the half of the box or sphere with the lowest z-coordinate in the collision link frame.
+
+
+Testing
+~~~~~~~
+
+For testing configurations, environment variables beginning with ``JAXSIM_TEST_`` are used. The following variables are available:
+
+- ``JAXSIM_TEST_SEED``: Defines the seed for the random number generator.
+  *Default:* ``0``.
+
+- ``JAXSIM_TEST_AD_ORDER``: Specifies the gradient order for automatic differentiation tests.
+  *Default:* ``1``.
+
+- ``JAXSIM_TEST_FD_STEP_SIZE``: Sets the step size for finite difference tests.
+  *Default:* the cube root of the machine epsilon.
+
+
+Joint Dynamics
+~~~~~~~~~~~~~~
+Joint dynamics are configured using environment variables starting with ``JAXSIM_JOINT_``. Available variables include:
+
+- ``JAXSIM_JOINT_POSITION_LIMIT_DAMPER``: Overrides the damper value for joint position limits of the SDF model.
+
+- ``JAXSIM_JOINT_POSITION_LIMIT_SPRING``: Overrides the spring value for joint position limits of the SDF model.
+
+
+Logging
+~~~~~~~
+
+The logging configuration is controlled by the following environment variable:
+
+- ``JAXSIM_LOGGING_LEVEL``: Determines the logging level.
+  *Default:* ``DEBUG`` for development, ``WARNING`` for production.

{jaxsim-0.5.1.dev60 → jaxsim-0.5.1.dev69}/docs/index.rst

@@ -70,6 +70,7 @@ Features
   :hidden:
 
   guide/install
+  guide/configuration
 
   examples
 

{jaxsim-0.5.1.dev60 → jaxsim-0.5.1.dev69}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev60'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev60')
+__version__ = version = '0.5.1.dev69'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev69')

{jaxsim-0.5.1.dev60 → jaxsim-0.5.1.dev69}/src/jaxsim/parsers/rod/utils.py

@@ -117,22 +117,19 @@ def create_box_collision(
 
     center = np.array([x / 2, y / 2, z / 2])
 
-    box_corners = (
-        np.vstack(
-            [
-                np.array([0, 0, 0]),
-                np.array([x, 0, 0]),
-                np.array([x, y, 0]),
-                np.array([0, y, 0]),
-                np.array([0, 0, z]),
-                np.array([x, 0, z]),
-                np.array([x, y, z]),
-                np.array([0, y, z]),
-            ]
-        )
-        - center
+    # Define the bottom corners.
+    bottom_corners = np.array([[0, 0, 0], [x, 0, 0], [x, y, 0], [0, y, 0]])
+
+    # Conditionally add the top corners based on the environment variable.
+    top_corners = (
+        np.array([[0, 0, z], [x, 0, z], [x, y, z], [0, y, z]])
+        if not os.environ.get("JAXSIM_COLLISION_USE_BOTTOM_ONLY", "0")
+        else []
     )
 
+    # Combine and shift by the center
+    box_corners = np.vstack([bottom_corners, *top_corners]) - center
+
     H = collision.pose.transform() if collision.pose is not None else np.eye(4)
 
     center_wrt_link = (H @ np.hstack([center, 1.0]))[0:-1]
@@ -170,23 +167,31 @@ def create_sphere_collision(
 
     # From https://stackoverflow.com/a/26127012
     def fibonacci_sphere(samples: int) -> npt.NDArray:
-        points = []
-        phi = np.pi * (3.0 - np.sqrt(5.0))  # golden angle in radians
-
-        for i in range(samples):
-            y = 1 - (i / float(samples - 1)) * 2  # y goes from 1 to -1
-            radius = np.sqrt(1 - y * y)  # radius at y
-
-            theta = phi * i  # golden angle increment
-
-            x = np.cos(theta) * radius
-            z = np.sin(theta) * radius
+        # Get the golden ratio in radians.
+        phi = np.pi * (3.0 - np.sqrt(5.0))
+
+        # Generate the points.
+        points = [
+            np.array(
+                [
+                    np.cos(phi * i)
+                    * np.sqrt(1 - (y := 1 - 2 * i / (samples - 1)) ** 2),
+                    y,
+                    np.sin(phi * i) * np.sqrt(1 - y**2),
+                ]
+            )
+            for i in range(samples)
+        ]
 
-            points.append(np.array([x, y, z]))
+        # Filter to keep only the bottom half if required.
+        if os.environ.get("JAXSIM_COLLISION_USE_BOTTOM_ONLY", "0"):
+            # Keep only the points with z <= 0.
+            points = [point for point in points if point[2] <= 0]
 
         return np.vstack(points)
 
     r = collision.geometry.sphere.radius
+
     sphere_points = r * fibonacci_sphere(
         samples=int(os.getenv(key="JAXSIM_COLLISION_SPHERE_POINTS", default="50"))
     )

{jaxsim-0.5.1.dev60 → jaxsim-0.5.1.dev69}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev60
+Version: 0.5.1.dev69
 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.dev60 → jaxsim-0.5.1.dev69}/src/jaxsim.egg-info/SOURCES.txt

@@ -21,6 +21,7 @@ docs/conf.py
 docs/examples.rst
 docs/index.rst
 docs/make.bat
+docs/guide/configuration.rst
 docs/guide/install.rst
 docs/modules/api.rst
 docs/modules/integrators.rst