jaxsim 0.5.1.dev99__tar.gz → 0.5.1.dev103__tar.gz

{jaxsim-0.5.1.dev99 → jaxsim-0.5.1.dev103}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev99
+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.dev99 → 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.dev99 → 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.dev99'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev99')
+__version__ = version = '0.5.1.dev103'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev103')

{jaxsim-0.5.1.dev99 → 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.dev99 → 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.dev99
+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>