jaxsim 0.5.1.dev95__tar.gz → 0.5.1.dev103__tar.gz

{jaxsim-0.5.1.dev95 → jaxsim-0.5.1.dev103}/.pre-commit-config.yaml

@@ -20,7 +20,7 @@ repos:
       args: ["--maxkb=2000"]
 
   - repo: https://github.com/psf/black-pre-commit-mirror
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--check", "--diff"]
@@ -44,11 +44,11 @@ repos:
       - id: codespell
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.6.9
+    rev: v0.8.6
     hooks:
       - id: ruff
 
   - repo: https://github.com/kynan/nbstripout
-    rev: 0.7.1
+    rev: 0.8.1
     hooks:
       - id: nbstripout

{jaxsim-0.5.1.dev95 → jaxsim-0.5.1.dev103}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev95
+Version: 0.5.1.dev103
 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.dev95 → jaxsim-0.5.1.dev103}/src/jaxsim/__init__.py

@@ -8,19 +8,27 @@ def _jnp_options() -> None:
 
     import jax
 
-    # Check if running on TPU
+    # Check if running on TPU.
     is_tpu = jax.devices()[0].platform == "tpu"
 
+    # Check if running on Metal.
+    is_metal = jax.devices()[0].platform == "METAL"
+
     # Enable by default 64-bit precision to get accurate physics.
     # Users can enforce 32-bit precision by setting the following variable to 0.
     use_x64 = os.environ.get("JAX_ENABLE_X64", "1") != "0"
 
     # Notify the user if unsupported 64-bit precision was enforced on TPU.
-    if is_tpu and use_x64:
-        msg = "64-bit precision is not allowed on TPU. Enforcing 32bit precision."
+    if (is_tpu or is_metal) and use_x64:
+        msg = f"64-bit precision is not allowed on {jax.devices()[0].platform.upper}. Enforcing 32bit precision."
         logging.warning(msg)
         use_x64 = False
 
+        if is_metal:
+            logging.warning(
+                "JAX Metal backend is experimental. Some functionalities may not be available."
+            )
+
     # Enable 64-bit precision in JAX.
     if use_x64:
         logging.info("Enabling JAX to use 64-bit precision")

{jaxsim-0.5.1.dev95 → jaxsim-0.5.1.dev103}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev95'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev95')
+__version__ = version = '0.5.1.dev103'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev103')

{jaxsim-0.5.1.dev95 → jaxsim-0.5.1.dev103}/src/jaxsim/exceptions.py

@@ -19,8 +19,9 @@ def raise_if(
             format string (fmt), whose fields are filled with the args and kwargs.
     """
 
-    # Disable host callback if running on TPU.
-    if jax.devices()[0].platform == "tpu" or os.environ.get(
+    # Disable host callback if running on unsupported hardware or if the user
+    # explicitly disabled it.
+    if jax.devices()[0].platform in {"tpu", "METAL"} or os.environ.get(
         "JAXSIM_DISABLE_EXCEPTIONS", 0
     ):
         return

{jaxsim-0.5.1.dev95 → jaxsim-0.5.1.dev103}/src/jaxsim/parsers/rod/utils.py

@@ -225,15 +225,15 @@ def create_mesh_collision(
 ) -> descriptions.MeshCollision:
 
     file = pathlib.Path(resolve_local_uri(uri=collision.geometry.mesh.uri))
-    _file_type = file.suffix.replace(".", "")
-    mesh = trimesh.load_mesh(file, file_type=_file_type)
+    file_type = file.suffix.replace(".", "")
+    mesh = trimesh.load_mesh(file, file_type=file_type)
 
     if mesh.is_empty:
         raise RuntimeError(f"Failed to process '{file}' with trimesh")
 
     mesh.apply_scale(collision.geometry.mesh.scale)
     logging.info(
-        msg=f"Loading mesh {collision.geometry.mesh.uri} with scale {collision.geometry.mesh.scale}, file type '{_file_type}'"
+        msg=f"Loading mesh {collision.geometry.mesh.uri} with scale {collision.geometry.mesh.scale}, file type '{file_type}'"
     )
 
     if method is None:

{jaxsim-0.5.1.dev95 → jaxsim-0.5.1.dev103}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev95
+Version: 0.5.1.dev103
 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.dev95 → jaxsim-0.5.1.dev103}/src/jaxsim/typing.py

@@ -20,9 +20,9 @@ PyTree: object = (
     dict[Hashable, TypeVar("PyTree")]
     | list[TypeVar("PyTree")]
     | tuple[TypeVar("PyTree")]
-    | None
     | jax.Array
     | Any
+    | None
 )
 
 # =======================