jaxsim 0.5.1.dev63__tar.gz → 0.5.1.dev75__tar.gz

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev75}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev63
+Version: 0.5.1.dev75
 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.dev75/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.dev63 → jaxsim-0.5.1.dev75}/docs/index.rst

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

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev75}/pyproject.toml

@@ -187,10 +187,8 @@ platforms = ["linux-64", "osx-arm64", "osx-64"]
 [tool.pixi.environments]
 # We resolve only two groups: cpu and gpu.
 # Then, multiple environments can be created from these groups.
-default = { solve-group = "cpugroup" }
-gpu = { features = ["gpu"], solve-group = "gpugroup" }
-tasks-cpu = { features = ["test", "examples"], solve-group = "cpugroup" }
-tasks-gpu = { features = ["test", "examples", "gpu"], solve-group = "gpugroup" }
+default = { features = ["test", "examples"] }
+gpu = { features = ["test", "examples", "gpu"] }
 
 # ---------------
 # feature.default
@@ -234,11 +232,12 @@ jaxsim = { path = "./", editable = true }
 
 [tool.pixi.feature.test.tasks]
 pipcheck = "pip check"
-test = { cmd = "pytest", depends_on = ["pipcheck"] }
 benchmark = { cmd = "pytest --benchmark-only", depends_on = ["pipcheck"] }
+lint = { cmd = "pre-commit run --all-files --hook-stage=manual" }
+test = { cmd = "pytest", depends_on = ["pipcheck"] }
 
 [tool.pixi.feature.test.dependencies]
-black = "24.*"
+black-jupyter = "24.*"
 idyntree = "*"
 isort = "*"
 pre-commit = "*"
@@ -268,9 +267,7 @@ system-requirements = { cuda = "12" }
 
 [tool.pixi.feature.gpu.dependencies]
 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*" }
+jaxlib = { version = "*", build = "*cuda*" }
 
 [tool.pixi.feature.gpu.tasks]
-gpu-tests = { cmd = "pytest --gpu-only", depends_on = ["pipcheck"] }
+test-gpu = { cmd = "pytest --gpu-only", depends_on = ["pipcheck"] }

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev75}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev63'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev63')
+__version__ = version = '0.5.1.dev75'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev75')

{jaxsim-0.5.1.dev63 → jaxsim-0.5.1.dev75}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev63
+Version: 0.5.1.dev75
 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.dev63 → jaxsim-0.5.1.dev75}/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