jaxsim 0.6.2.dev179__tar.gz → 0.6.2.dev182__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (131) hide show
  1. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/PKG-INFO +1 -1
  2. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/conf.py +0 -1
  3. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/api.rst +1 -1
  4. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/environment.yml +0 -2
  5. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/_version.py +2 -2
  6. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/model.py +3 -0
  7. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim.egg-info/PKG-INFO +1 -1
  8. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.devcontainer/Dockerfile +0 -0
  9. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.devcontainer/devcontainer.json +0 -0
  10. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.gitattributes +0 -0
  11. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.github/CODEOWNERS +0 -0
  12. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.github/dependabot.yml +0 -0
  13. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.github/workflows/ci_cd.yml +0 -0
  14. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.github/workflows/gpu_benchmark.yml +0 -0
  15. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.github/workflows/pixi.yml +0 -0
  16. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.github/workflows/read_the_docs.yml +0 -0
  17. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.gitignore +0 -0
  18. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.pre-commit-config.yaml +0 -0
  19. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.readthedocs.yaml +0 -0
  20. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/CONTRIBUTING.md +0 -0
  21. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/LICENSE +0 -0
  22. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/README.md +0 -0
  23. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/Makefile +0 -0
  24. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/examples.rst +0 -0
  25. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/guide/configuration.rst +0 -0
  26. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/guide/install.rst +0 -0
  27. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/index.rst +0 -0
  28. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/make.bat +0 -0
  29. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/math.rst +0 -0
  30. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/mujoco.rst +0 -0
  31. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/parsers.rst +0 -0
  32. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/rbda.rst +0 -0
  33. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/typing.rst +0 -0
  34. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/utils.rst +0 -0
  35. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/.gitattributes +0 -0
  36. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/.gitignore +0 -0
  37. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/README.md +0 -0
  38. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/assets/build_cartpole_urdf.py +0 -0
  39. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/assets/cartpole.urdf +0 -0
  40. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/jaxsim_as_multibody_dynamics_library.ipynb +0 -0
  41. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/jaxsim_as_physics_engine.ipynb +0 -0
  42. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/jaxsim_as_physics_engine_advanced.ipynb +0 -0
  43. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/examples/jaxsim_for_robot_controllers.ipynb +0 -0
  44. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/pixi.lock +0 -0
  45. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/pyproject.toml +0 -0
  46. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/setup.cfg +0 -0
  47. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/setup.py +0 -0
  48. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/__init__.py +0 -0
  49. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/__init__.py +0 -0
  50. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/actuation_model.py +0 -0
  51. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/com.py +0 -0
  52. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/common.py +0 -0
  53. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/contact.py +0 -0
  54. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/contact_model.py +0 -0
  55. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/data.py +0 -0
  56. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/frame.py +0 -0
  57. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/integrators.py +0 -0
  58. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/joint.py +0 -0
  59. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/kin_dyn_parameters.py +0 -0
  60. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/link.py +0 -0
  61. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/ode.py +0 -0
  62. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/references.py +0 -0
  63. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/exceptions.py +0 -0
  64. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/logging.py +0 -0
  65. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/__init__.py +0 -0
  66. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/adjoint.py +0 -0
  67. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/cross.py +0 -0
  68. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/inertia.py +0 -0
  69. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/joint_model.py +0 -0
  70. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/quaternion.py +0 -0
  71. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/rotation.py +0 -0
  72. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/skew.py +0 -0
  73. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/transform.py +0 -0
  74. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/math/utils.py +0 -0
  75. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/mujoco/__init__.py +0 -0
  76. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/mujoco/__main__.py +0 -0
  77. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/mujoco/loaders.py +0 -0
  78. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/mujoco/model.py +0 -0
  79. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/mujoco/utils.py +0 -0
  80. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/mujoco/visualizer.py +0 -0
  81. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/__init__.py +0 -0
  82. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  83. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  84. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  85. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/descriptions/link.py +0 -0
  86. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/descriptions/model.py +0 -0
  87. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  88. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/rod/__init__.py +0 -0
  89. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/rod/meshes.py +0 -0
  90. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/rod/parser.py +0 -0
  91. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/parsers/rod/utils.py +0 -0
  92. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/__init__.py +0 -0
  93. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/aba.py +0 -0
  94. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/collidable_points.py +0 -0
  95. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/contacts/__init__.py +0 -0
  96. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/contacts/common.py +0 -0
  97. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/contacts/relaxed_rigid.py +0 -0
  98. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/crba.py +0 -0
  99. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  100. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/jacobian.py +0 -0
  101. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/rnea.py +0 -0
  102. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/rbda/utils.py +0 -0
  103. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/terrain/__init__.py +0 -0
  104. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/terrain/terrain.py +0 -0
  105. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/typing.py +0 -0
  106. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/utils/__init__.py +0 -0
  107. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  108. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/utils/tracing.py +0 -0
  109. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/utils/wrappers.py +0 -0
  110. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  111. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  112. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim.egg-info/requires.txt +0 -0
  113. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim.egg-info/top_level.txt +0 -0
  114. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/__init__.py +0 -0
  115. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/conftest.py +0 -0
  116. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_api_com.py +0 -0
  117. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_api_contact.py +0 -0
  118. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_api_data.py +0 -0
  119. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_api_frame.py +0 -0
  120. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_api_joint.py +0 -0
  121. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_api_link.py +0 -0
  122. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_api_model.py +0 -0
  123. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_automatic_differentiation.py +0 -0
  124. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_benchmark.py +0 -0
  125. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_contact.py +0 -0
  126. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_exceptions.py +0 -0
  127. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_meshes.py +0 -0
  128. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_pytree.py +0 -0
  129. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_simulations.py +0 -0
  130. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/test_visualizer.py +0 -0
  131. {jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/tests/utils_idyntree.py +0 -0
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.2
2
2
  Name: jaxsim
3
- Version: 0.6.2.dev179
3
+ Version: 0.6.2.dev182
4
4
  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
5
5
  Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
6
6
  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/conf.py RENAMED
@@ -44,7 +44,6 @@ extensions = [
44
44
  "sphinx.ext.napoleon",
45
45
  "sphinx_autodoc_typehints",
46
46
  "sphinx_multiversion",
47
- "enum_tools.autoenum",
48
47
  "myst_nb",
49
48
  "sphinx_gallery.gen_gallery",
50
49
  "sphinxcontrib.collections",
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/docs/modules/api.rst RENAMED
@@ -103,7 +103,7 @@ References
103
103
  Common
104
104
  ~~~~~~
105
105
 
106
- .. autoflag:: jaxsim.api.common.VelRepr
106
+ .. autoclass:: jaxsim.api.common.VelRepr
107
107
  :members:
108
108
 
109
109
  .. autoclass:: jaxsim.api.common.ModelDataWithVelocityRepresentation
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/environment.yml RENAMED
@@ -40,9 +40,7 @@ dependencies:
40
40
  # Documentation dependencies
41
41
  # ==========================
42
42
  - cachecontrol
43
- - enum_tools
44
43
  - filecache
45
- - filelock
46
44
  - jinja2
47
45
  - myst-nb
48
46
  - pip
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/_version.py RENAMED
@@ -17,5 +17,5 @@ __version__: str
17
17
  __version_tuple__: VERSION_TUPLE
18
18
  version_tuple: VERSION_TUPLE
19
19
 
20
- __version__ = version = '0.6.2.dev179'
21
- __version_tuple__ = version_tuple = (0, 6, 2, 'dev179')
20
+ __version__ = version = '0.6.2.dev182'
21
+ __version_tuple__ = version_tuple = (0, 6, 2, 'dev182')
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim/api/model.py RENAMED
@@ -124,6 +124,7 @@ class JaxSimModel(JaxsimDataclass):
124
124
  integrator: IntegratorType | None = None,
125
125
  is_urdf: bool | None = None,
126
126
  considered_joints: Sequence[str] | None = None,
127
+ gravity: jtp.FloatLike = jaxsim.math.STANDARD_GRAVITY,
127
128
  ) -> JaxSimModel:
128
129
  """
129
130
  Build a Model object from a model description.
@@ -148,6 +149,7 @@ class JaxSimModel(JaxsimDataclass):
148
149
  This is usually automatically inferred.
149
150
  considered_joints:
150
151
  The list of joints to consider. If None, all joints are considered.
152
+ gravity: The gravity constant. Normally passed as a positive value.
151
153
 
152
154
  Returns:
153
155
  The built Model object.
@@ -177,6 +179,7 @@ class JaxSimModel(JaxsimDataclass):
177
179
  contact_model=contact_model,
178
180
  contacts_params=contact_params,
179
181
  integrator=integrator,
182
+ gravity=gravity,
180
183
  )
181
184
 
182
185
  # Store the origin of the model, in case downstream logic needs it.
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/src/jaxsim.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.2
2
2
  Name: jaxsim
3
- Version: 0.6.2.dev179
3
+ Version: 0.6.2.dev182
4
4
  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
5
5
  Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
6
6
  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/.gitignore RENAMED
File without changes
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/LICENSE RENAMED
File without changes
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/README.md RENAMED
File without changes
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/pixi.lock RENAMED
File without changes
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/setup.cfg RENAMED
File without changes
{jaxsim-0.6.2.dev179 → jaxsim-0.6.2.dev182}/setup.py RENAMED
File without changes