jaxsim 0.5.1.dev99__py3-none-any.whl → 0.5.1.dev123__py3-none-any.whl

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/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev99'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev99')
+__version__ = version = '0.5.1.dev123'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev123')

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.dev99.dist-info → jaxsim-0.5.1.dev123.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev99
+Version: 0.5.1.dev123
 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>
@@ -81,6 +81,7 @@ Requires-Dist: pytest>=6.0; extra == "testing"
 Requires-Dist: pytest-benchmark; extra == "testing"
 Requires-Dist: pytest-icdiff; extra == "testing"
 Requires-Dist: robot-descriptions; extra == "testing"
+Requires-Dist: icub-models; extra == "testing"
 Provides-Extra: viz
 Requires-Dist: lxml; extra == "viz"
 Requires-Dist: mediapy; extra == "viz"
@@ -91,9 +92,7 @@ Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
 
 # JaxSim
 
-JaxSim is a **differentiable physics engine** and **multibody dynamics library** designed for applications in control and robot learning, implemented with JAX.
-
-Its design facilitates research and accelerates prototyping in the intersection of robotics and artificial intelligence.
+**JaxSim** is a **differentiable physics engine** and **multibody dynamics library** built with JAX, tailored for control and robotic learning applications.
 
 <div align="center">
 <br/>
@@ -108,41 +107,105 @@ Its design facilitates research and accelerates prototyping in the intersection
 </div>
 
 ## Features
+- Reduced-coordinate physics engine for **fixed-base** and **floating-base** robots.
+- Multibody dynamics library for model-based control algorithms.
+- Fully Python-based, leveraging [jax][jax] following a functional programming paradigm.
+- Seamless execution on CPUs, GPUs, and TPUs.
+- Supports JIT compilation and automatic vectorization for high performance.
+- Compatible with SDF models and URDF (via [sdformat][sdformat] conversion).
+
+## Usage
+
+### Using JaxSim as simulator
+
+
+```python
+import jax.numpy as jnp
+import jaxsim.api as js
+import icub_models
+import pathlib
+
+# Load the iCub model
+model_path = icub_models.get_model_file("iCubGazeboV2_5")
+joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
+          'l_shoulder_roll', 'l_shoulder_yaw', 'l_elbow', 'r_shoulder_pitch',
+          'r_shoulder_roll', 'r_shoulder_yaw', 'r_elbow', 'l_hip_pitch',
+          'l_hip_roll', 'l_hip_yaw', 'l_knee', 'l_ankle_pitch', 'l_ankle_roll',
+          'r_hip_pitch', 'r_hip_roll', 'r_hip_yaw', 'r_knee', 'r_ankle_pitch',
+          'r_ankle_roll')
+
+# Build and reduce the model
+model_description = pathlib.Path(model_path)
+full_model = js.model.JaxSimModel.build_from_model_description(
+    model_description=model_description, time_step=0.0001, is_urdf=True
+)
+model = js.model.reduce(model=full_model, considered_joints=joints)
+
+ndof = model.dofs()
+# Initialize data and simulation
+data = js.data.JaxSimModelData.zero(model=model).reset_base_position(
+    base_position=jnp.array([0.0, 0.0, 1.0])
+)
+T = jnp.arange(start=0, stop=1.0, step=model.time_step)
+tau = jnp.zeros(ndof)
+
+# Simulate
+for t in T:
+    data, _ = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
 
-- Physics engine in reduced coordinates supporting fixed-base and floating-base robots.
-- Multibody dynamics library providing all the necessary components for developing model-based control algorithms.
-- Completely developed in Python with [`google/jax`][jax] following a functional programming paradigm.
-- Transparent support for running on CPUs, GPUs, and TPUs.
-- Full support for JIT compilation for increased performance.
-- Full support for automatic vectorization for massive parallelization of open-loop and closed-loop architectures.
-- Support for SDF models and, upon conversion with [sdformat][sdformat], URDF models.
-- Visualization based on the [passive viewer][passive_viewer_mujoco] of Mujoco.
-
-### JaxSim as a simulator
-
-- Wide range of fixed-step explicit Runge-Kutta integrators.
-- Support for variable-step integrators implemented as embedded Runge-Kutta schemes.
-- Improved stability by optionally integrating the base orientation on the $\text{SO}(3)$ manifold.
-- Soft contacts model supporting full friction cone and sticking-slipping transition.
-- Collision detection between points rigidly attached to bodies and uneven ground surfaces.
-
-### JaxSim as a multibody dynamics library
+```
 
-- Provides rigid body dynamics algorithms (RBDAs) like RNEA, ABA, CRBA, and Jacobians.
-- Provides all the quantities included in the Euler-Poincarè formulation of the equations of motion.
-- Supports body-fixed, inertial-fixed, and mixed [velocity representations][notation].
-- Exposes all the necessary quantities to develop controllers in centroidal coordinates.
-- Supports running open-loop and full closed-loop control architectures on hardware accelerators.
+### Using JaxSim as a multibody dynamics library
+``` python
+import jax.numpy as jnp
+import jaxsim.api as js
+import icub_models
+import pathlib
+
+# Load the iCub model
+model_path = icub_models.get_model_file("iCubGazeboV2_5")
+joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
+          'l_shoulder_roll', 'l_shoulder_yaw', 'l_elbow', 'r_shoulder_pitch',
+          'r_shoulder_roll', 'r_shoulder_yaw', 'r_elbow', 'l_hip_pitch',
+          'l_hip_roll', 'l_hip_yaw', 'l_knee', 'l_ankle_pitch', 'l_ankle_roll',
+          'r_hip_pitch', 'r_hip_roll', 'r_hip_yaw', 'r_knee', 'r_ankle_pitch',
+          'r_ankle_roll')
+
+# Build and reduce the model
+model_description = pathlib.Path(model_path)
+full_model = js.model.JaxSimModel.build_from_model_description(
+    model_description=model_description, time_step=0.0001, is_urdf=True
+)
+model = js.model.reduce(model=full_model, considered_joints=joints)
+
+# Initialize model data
+data = js.data.JaxSimModelData.build(
+    model=model,
+    base_position=jnp.array([0.0, 0.0, 1.0],
+)
+
+# Frame and dynamics computations
+frame_index = js.frame.name_to_idx(model=model, frame_name="l_foot")
+W_H_F = js.frame.transform(model=model, data=data, frame_index=frame_index)  # Frame transformation
+W_J_F = js.frame.jacobian(model=model, data=data, frame_index=frame_index)  # Frame Jacobian
+
+# Dynamics properties
+M = js.model.free_floating_mass_matrix(model=model, data=data)  # Mass matrix
+h = js.model.free_floating_bias_forces(model=model, data=data)  # Bias forces
+g = js.model.free_floating_gravity_forces(model=model, data=data)  # Gravity forces
+C = js.model.free_floating_coriolis_matrix(model=model, data=data)  # Coriolis matrix
+
+# Print dynamics results
+print(f"M: shape={M.shape}, h: shape={h.shape}, g: shape={g.shape}, C: shape={C.shape}")
 
-### JaxSim for robot learning
+```
+### Additional features
 
-- Being developed with JAX, all the RBDAs support automatic differentiation both in forward and reverse modes.
+- Full support for automatic differentiation of RBDAs (forward and reverse modes) with JAX.
 - Support for automatically differentiating against kinematics and dynamics parameters.
 - All fixed-step integrators are forward and reverse differentiable.
 - All variable-step integrators are forward differentiable.
-- Ideal for sampling synthetic data for reinforcement learning (RL).
-- Ideal for designing physics-informed neural networks (PINNs) with loss functions requiring model-based quantities.
-- Ideal for combining model-based control with learning-based components.
+- Check the example folder for additional usecase !
 
 [jax]: https://github.com/google/jax/
 [sdformat]: https://github.com/gazebosim/sdformat
@@ -156,12 +219,6 @@ Its design facilitates research and accelerates prototyping in the intersection
 > JaxSim currently focuses on locomotion applications.
 > Only contacts between bodies and smooth ground surfaces are supported.
 
-## Documentation
-
-The JaxSim API documentation is available at [jaxsim.readthedocs.io][readthedocs].
-
-[readthedocs]: https://jaxsim.readthedocs.io/
-
 ## Installation
 
 <details>
@@ -233,6 +290,13 @@ pip install --no-deps -e .
 [venv]: https://docs.python.org/3/tutorial/venv.html
 [jax_gpu]: https://github.com/google/jax/#installation
 
+## Documentation
+
+The JaxSim API documentation is available at [jaxsim.readthedocs.io][readthedocs].
+
+[readthedocs]: https://jaxsim.readthedocs.io/
+
+
 ## Overview
 
 <details>

{jaxsim-0.5.1.dev99.dist-info → jaxsim-0.5.1.dev123.dist-info}/RECORD

@@ -1,6 +1,6 @@
-jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=Ul6Eck5fipJKUs0Ylneml-NIx8nHkgBdEAe8SI4nF5I,426
-jaxsim/exceptions.py,sha256=Sq3qtqeiy-CK76new_W2KKQ-4MAzyOUK5j5pBLr4RPQ,2250
+jaxsim/__init__.py,sha256=OQcCxXn4BXiSvGjAatqvw5fAEVfXbxyavQZN25NEyBo,3675
+jaxsim/_version.py,sha256=AbzPKnmppXR6QDpBgOm9asK8vnGvLhmkB5prR4HYWBc,428
+jaxsim/exceptions.py,sha256=5rYd0kGrIaq1e0WK0qMVTCkoGJtMWz_uWlVtxHbjH_A,2322
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
 jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
@@ -67,8 +67,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=TGmTQV2Lq7Q-2nLoAEaeNtkPa_qj0IKkdBm4COj46Os,11312
 jaxsim/utils/tracing.py,sha256=eEY28MZW0Lm_jJNt1NkFqZz0ek01tvhR46OXZYCo7tc,532
 jaxsim/utils/wrappers.py,sha256=ZY7olSORzZRvSzkdeNLj8yjwUIAt9L0Douwl7wItjpk,4008
-jaxsim-0.5.1.dev99.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.5.1.dev99.dist-info/METADATA,sha256=-NCd22Dz6LVdHb8muVMQ2u8QBryFT3nkLhaM9wpOMZw,17937
-jaxsim-0.5.1.dev99.dist-info/WHEEL,sha256=A3WOREP4zgxI0fKrHUG8DC8013e3dK3n7a6HDbcEIwE,91
-jaxsim-0.5.1.dev99.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.5.1.dev99.dist-info/RECORD,,
+jaxsim-0.5.1.dev123.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev123.dist-info/METADATA,sha256=KK8J1WX2yaEQYKLBIPqryr6Fem8CKXGg5jGHOcLdvWc,19484
+jaxsim-0.5.1.dev123.dist-info/WHEEL,sha256=A3WOREP4zgxI0fKrHUG8DC8013e3dK3n7a6HDbcEIwE,91
+jaxsim-0.5.1.dev123.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.5.1.dev123.dist-info/RECORD,,