jaxsim 0.6.2.dev175__tar.gz → 0.6.2.dev181__tar.gz

jaxsim-0.6.2.dev181/.github/workflows/gpu_benchmark.yml

@@ -0,0 +1,104 @@
+name: GPU Benchmarks
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0  * * 1" # Run At 00:00 on Monday
+
+permissions:
+  pull-requests: write
+  deployments: write
+  contents: write
+
+jobs:
+  benchmark:
+    runs-on: self-hosted
+    container:
+      image: ghcr.io/nvidia/jax:jax
+      options: --rm --gpus all --ipc=host --ulimit memlock=-1 --ulimit stack=67108864
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up environment
+        run: |
+          pip install .[all]
+
+      - name: Install Gazebo SDF
+        run: |
+            apt update && apt install -y lsb-release wget
+            sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+            wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+            apt-get update
+            apt install -y libsdformat14-dev libsdformat14
+
+      - name: Get main branch SHA
+        id: get-main-branch-sha
+        run: |
+          git config --global --add safe.directory /__w/jaxsim/jaxsim
+          SHA=$(git rev-parse origin/main)
+          echo "sha=$SHA" >> $GITHUB_OUTPUT
+
+      - name: Get benchmark results from main branch
+        id: cache
+        uses: actions/cache/restore@v4
+        with:
+          path: ./cache
+          key: ${{ steps.get-main-branch-sha.outputs.sha }}-${{ runner.os }}-benchmark
+
+      - name: Run benchmark and store result
+        run: |
+            pytest tests/test_benchmark.py -k 'not test_rigid_contact_model and not test_soft_contact_model' --gpu-only --batch-size 128 --benchmark-only --benchmark-json output.json
+
+      - name: Compare benchmark results with main branch
+        uses: benchmark-action/github-action-benchmark@v1.20.4
+        if: steps.cache.outputs.cache-hit == 'true'
+        with:
+          tool: 'pytest'
+          output-file-path: output.json
+          external-data-json-path: ./cache/benchmark-data.json
+          save-data-file: false
+          fail-on-alert: true
+          summary-always: true
+          comment-always: true
+          alert-threshold: 150%
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Store benchmark result for main branch
+        uses: benchmark-action/github-action-benchmark@v1.20.4
+        if: ${{ github.ref_name == 'main' }}
+        with:
+          tool: 'pytest'
+          output-file-path: output.json
+          external-data-json-path: ./cache/benchmark-data.json
+          save-data-file: true
+          fail-on-alert: false
+          summary-always: true
+          comment-always: true
+          alert-threshold: 150%
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Publish Benchmark Results to GitHub Pages
+        uses: benchmark-action/github-action-benchmark@v1.20.4
+        if: ${{ github.ref_name == 'main' }}
+        with:
+          tool: 'pytest'
+          output-file-path: output.json
+          benchmark-data-dir-path: "benchmarks"
+          fail-on-alert: false
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          comment-on-alert: true
+          summary-always: true
+          save-data-file: true
+          alert-threshold: "150%"
+          auto-push: ${{ github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' }}
+
+      - name: Update Benchmark Results cache
+        uses: actions/cache/save@v4
+        if: ${{ github.ref_name == 'main' }}
+        with:
+          path: ./cache
+          key: ${{ steps.get-main-branch-sha.outputs.sha }}-${{ runner.os }}-benchmark

{jaxsim-0.6.2.dev175 → jaxsim-0.6.2.dev181}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.6.2.dev175
+Version: 0.6.2.dev181
 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-0.6.2.dev175 → jaxsim-0.6.2.dev181}/docs/conf.py

@@ -44,7 +44,6 @@ extensions = [
     "sphinx.ext.napoleon",
     "sphinx_autodoc_typehints",
     "sphinx_multiversion",
-    "enum_tools.autoenum",
     "myst_nb",
     "sphinx_gallery.gen_gallery",
     "sphinxcontrib.collections",

{jaxsim-0.6.2.dev175 → jaxsim-0.6.2.dev181}/docs/modules/api.rst

@@ -103,7 +103,7 @@ References
 Common
 ~~~~~~
 
-.. autoflag:: jaxsim.api.common.VelRepr
+.. autoclass:: jaxsim.api.common.VelRepr
     :members:
 
 .. autoclass:: jaxsim.api.common.ModelDataWithVelocityRepresentation

{jaxsim-0.6.2.dev175 → jaxsim-0.6.2.dev181}/environment.yml

@@ -40,9 +40,7 @@ dependencies:
   # Documentation dependencies
   # ==========================
   - cachecontrol
-  - enum_tools
   - filecache
-  - filelock
   - jinja2
   - myst-nb
   - pip

{jaxsim-0.6.2.dev175 → jaxsim-0.6.2.dev181}/src/jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev175'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev175')
+__version__ = version = '0.6.2.dev181'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev181')

{jaxsim-0.6.2.dev175 → jaxsim-0.6.2.dev181}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.6.2.dev175
+Version: 0.6.2.dev181
 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-0.6.2.dev175/.github/workflows/gpu_benchmark.yml

@@ -1,67 +0,0 @@
-name: GPU Benchmarks
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-  schedule:
-    - cron: "0 0  * * 1" # Run At 00:00 on Monday
-
-permissions:
-  pull-requests: write
-  deployments: write
-  contents: write
-
-jobs:
-  benchmark:
-    runs-on: self-hosted
-    container:
-      image: ghcr.io/nvidia/jax:jax
-      options: --rm --gpus all --ipc=host --ulimit memlock=-1 --ulimit stack=67108864
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Set up environment
-        run: |
-          pip install .[all]
-
-      - name: Install Gazebo SDF
-        run: |
-            apt update && apt install -y lsb-release wget
-            sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-            wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-            apt-get update
-            apt install -y libsdformat14-dev libsdformat14
-
-      - name: Performance regression check
-        uses: actions/checkout@v4
-
-      - name: Run benchmark and store result
-        run: |
-            pytest tests/test_benchmark.py -k 'not test_rigid_contact_model and not test_soft_contact_model' --gpu-only --batch-size 128 --benchmark-only --benchmark-json output.json
-
-      - name: Download previous benchmark data
-        uses: actions/cache@v4
-        with:
-          path: ./cache
-          key: ${{ runner.os }}-benchmark
-
-      - name: Store benchmark result
-        uses: benchmark-action/github-action-benchmark@v1
-        with:
-          tool: 'pytest'
-          output-file-path: output.json
-          external-data-json-path: ./cache/benchmark-data.json
-          fail-on-alert: true
-          summary-always: true
-          comment-always: true
-          alert-threshold: 150%
-          auto-push: false
-          gh-pages-branch: gh-pages
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Push benchmark result
-        if: github.event_name != 'pull_request'
-        run: git push 'https://ami-iit:${{ secrets.GITHUB_TOKEN }}@github.com/ami-iit/jaxsim.git' gh-pages:gh-pages