jaxsim 0.6.2.dev225__tar.gz → 0.6.2.dev231__tar.gz

{jaxsim-0.6.2.dev225 → jaxsim-0.6.2.dev231}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev225
+Version: 0.6.2.dev231
 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>
@@ -425,19 +425,15 @@ The algorithms and some simulation features were inspired by its accompanying [c
 
 The development of JaxSim started in late 2021, inspired by early versions of [`google/brax`][brax].
 At that time, Brax was implemented in maximal coordinates, and we wanted a physics engine in reduced coordinates.
-We are grateful to the Brax team for their work and showing the potential of [JAX][jax] in this field.
+We are grateful to the Brax team for their work and for showing the potential of [JAX][jax] in this field.
 
-Brax v2 was later implemented reduced coordinates, following an approach comparable to JaxSim.
-The development then shifted to [MJX][mjx], which today provides a JAX-based implementation of the Mujoco APIs.
+Brax v2 was later implemented with reduced coordinates, following an approach comparable to JaxSim.
+The development then shifted to [MJX][mjx], which provides a JAX-based implementation of the Mujoco APIs.
 
 The main differences between MJX/Brax and JaxSim are as follows:
 
 - JaxSim supports out-of-the-box all SDF models with [Pose Frame Semantics][PFS].
 - JaxSim only supports collisions between points rigidly attached to bodies and a compliant ground surface.
-  Our contact model requires careful tuning of its spring-damper parameters, but being an instantaneous
-  function of the state $(\mathbf{q}, \boldsymbol{\nu})$, it doesn't require running any optimization algorithm
-  when stepping the simulation forward.
-- JaxSim mitigates the stiffness of the contact-aware system dynamics by providing variable-step integrators.
 
 [brax]: https://github.com/google/brax
 [mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html

{jaxsim-0.6.2.dev225 → jaxsim-0.6.2.dev231}/README.md

@@ -332,19 +332,15 @@ The algorithms and some simulation features were inspired by its accompanying [c
 
 The development of JaxSim started in late 2021, inspired by early versions of [`google/brax`][brax].
 At that time, Brax was implemented in maximal coordinates, and we wanted a physics engine in reduced coordinates.
-We are grateful to the Brax team for their work and showing the potential of [JAX][jax] in this field.
+We are grateful to the Brax team for their work and for showing the potential of [JAX][jax] in this field.
 
-Brax v2 was later implemented reduced coordinates, following an approach comparable to JaxSim.
-The development then shifted to [MJX][mjx], which today provides a JAX-based implementation of the Mujoco APIs.
+Brax v2 was later implemented with reduced coordinates, following an approach comparable to JaxSim.
+The development then shifted to [MJX][mjx], which provides a JAX-based implementation of the Mujoco APIs.
 
 The main differences between MJX/Brax and JaxSim are as follows:
 
 - JaxSim supports out-of-the-box all SDF models with [Pose Frame Semantics][PFS].
 - JaxSim only supports collisions between points rigidly attached to bodies and a compliant ground surface.
-  Our contact model requires careful tuning of its spring-damper parameters, but being an instantaneous
-  function of the state $(\mathbf{q}, \boldsymbol{\nu})$, it doesn't require running any optimization algorithm
-  when stepping the simulation forward.
-- JaxSim mitigates the stiffness of the contact-aware system dynamics by providing variable-step integrators.
 
 [brax]: https://github.com/google/brax
 [mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html

{jaxsim-0.6.2.dev225 → jaxsim-0.6.2.dev231}/src/jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev225'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev225')
+__version__ = version = '0.6.2.dev231'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev231')

{jaxsim-0.6.2.dev225 → jaxsim-0.6.2.dev231}/src/jaxsim/rbda/contacts/rigid.py

@@ -65,6 +65,7 @@ class RigidContactsParams(ContactsParams):
         mu: jtp.FloatLike | None = None,
         K: jtp.FloatLike | None = None,
         D: jtp.FloatLike | None = None,
+        **kwargs,
     ) -> Self:
         """Create a `RigidContactParams` instance."""
 

{jaxsim-0.6.2.dev225 → jaxsim-0.6.2.dev231}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev225
+Version: 0.6.2.dev231
 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>
@@ -425,19 +425,15 @@ The algorithms and some simulation features were inspired by its accompanying [c
 
 The development of JaxSim started in late 2021, inspired by early versions of [`google/brax`][brax].
 At that time, Brax was implemented in maximal coordinates, and we wanted a physics engine in reduced coordinates.
-We are grateful to the Brax team for their work and showing the potential of [JAX][jax] in this field.
+We are grateful to the Brax team for their work and for showing the potential of [JAX][jax] in this field.
 
-Brax v2 was later implemented reduced coordinates, following an approach comparable to JaxSim.
-The development then shifted to [MJX][mjx], which today provides a JAX-based implementation of the Mujoco APIs.
+Brax v2 was later implemented with reduced coordinates, following an approach comparable to JaxSim.
+The development then shifted to [MJX][mjx], which provides a JAX-based implementation of the Mujoco APIs.
 
 The main differences between MJX/Brax and JaxSim are as follows:
 
 - JaxSim supports out-of-the-box all SDF models with [Pose Frame Semantics][PFS].
 - JaxSim only supports collisions between points rigidly attached to bodies and a compliant ground surface.
-  Our contact model requires careful tuning of its spring-damper parameters, but being an instantaneous
-  function of the state $(\mathbf{q}, \boldsymbol{\nu})$, it doesn't require running any optimization algorithm
-  when stepping the simulation forward.
-- JaxSim mitigates the stiffness of the contact-aware system dynamics by providing variable-step integrators.
 
 [brax]: https://github.com/google/brax
 [mjx]: https://mujoco.readthedocs.io/en/3.0.0/mjx.html

{jaxsim-0.6.2.dev225 → jaxsim-0.6.2.dev231}/tests/test_benchmark.py

@@ -106,6 +106,7 @@ def test_soft_contact_model(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.SoftContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.ode.system_dynamics, model, benchmark, batch_size)
 
@@ -118,6 +119,7 @@ def test_rigid_contact_model(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.RigidContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.ode.system_dynamics, model, benchmark, batch_size)
 
@@ -130,6 +132,7 @@ def test_relaxed_rigid_contact_model(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.ode.system_dynamics, model, benchmark, batch_size)
 
@@ -142,5 +145,6 @@ def test_simulation_step(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.model.step, model, benchmark, batch_size)