jaxsim 0.5.1.dev69__tar.gz → 0.5.1.dev78__tar.gz

{jaxsim-0.5.1.dev69 → jaxsim-0.5.1.dev78}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev69
+Version: 0.5.1.dev78
 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 → jaxsim-0.5.1.dev78}/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.dev69 → jaxsim-0.5.1.dev78}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev69'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev69')
+__version__ = version = '0.5.1.dev78'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev78')

{jaxsim-0.5.1.dev69 → jaxsim-0.5.1.dev78}/src/jaxsim/api/model.py

@@ -477,6 +477,7 @@ def reduce(
         time_step=model.time_step,
         terrain=model.terrain,
         contact_model=model.contact_model,
+        integrator=model.integrator,
     )
 
     # Store the origin of the model, in case downstream logic needs it.

{jaxsim-0.5.1.dev69 → jaxsim-0.5.1.dev78}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev69
+Version: 0.5.1.dev78
 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 → jaxsim-0.5.1.dev78}/tests/test_api_model.py

@@ -98,6 +98,15 @@ def test_model_creation_and_reduction(
     # Check that the reduced model maintains the same terrain of the full model.
     assert model_full.terrain == model_reduced.terrain
 
+    # Check that the reduced model maintains the same contact model of the full model.
+    assert model_full.contact_model == model_reduced.contact_model
+
+    # Check that the reduced model maintains the same integration step of the full model.
+    assert model_full.time_step == model_reduced.time_step
+
+    # Check that the reduced model maintains the same integrator of the full model.
+    assert model_full.integrator == model_reduced.integrator
+
     # Build the data of the reduced model.
     data_reduced = js.data.JaxSimModelData.build(
         model=model_reduced,