jaxsim 0.6.2.dev268__py3-none-any.whl → 0.6.2.dev275__py3-none-any.whl

jaxsim/__init__.py

@@ -67,39 +67,42 @@ def _is_editable() -> bool:
     return jaxsim_package_dir not in site.getsitepackages()
 
 
-def _get_default_logging_level(env_var: str) -> logging.LoggingLevel:
+def _get_default_logging_level() -> logging.LoggingLevel:
     """
     Get the default logging level.
 
-    Args:
-        env_var: The environment variable to check.
-
     Returns:
         The logging level to set.
     """
 
     import os
+    import sys
 
-    # Define the default logging level depending on the installation mode.
-    default_logging_level = (
-        logging.LoggingLevel.DEBUG
+    # Allow to override the default logging level with an environment variable.
+    if overriden_logging_level := os.environ.get("JAXSIM_LOGGING_LEVEL"):
+        try:
+            return logging.LoggingLevel[overriden_logging_level.upper()]
+
+        except KeyError as exc:
+            msg = "Invalid logging level defined in JAXSIM_LOGGING_LEVEL"
+            raise RuntimeError(msg) from exc
+
+    # If running under a debugger, set the logging level to DEBUG.
+    if getattr(sys, "gettrace", lambda: None)():
+        return logging.LoggingLevel.DEBUG
+
+    # If not running under a debugger, set the logging level to INFO or WARNING.
+    # INFO for editable installations, WARNING for non-editable installations.
+    # This is to avoid too verbose logging in non-editable installations.
+    return (
+        logging.LoggingLevel.INFO
         if _is_editable()  # noqa: F821
         else logging.LoggingLevel.WARNING
     )
 
-    # Allow to override the default logging level with an environment variable.
-    try:
-        return logging.LoggingLevel[
-            os.environ.get(env_var, default_logging_level.name).upper()
-        ]
-
-    except KeyError as exc:
-        msg = f"Invalid logging level defined in {env_var}='{os.environ[env_var]}'"
-        raise RuntimeError(msg) from exc
-
 
 # Configure the logger with the default logging level.
-logging.configure(level=_get_default_logging_level(env_var="JAXSIM_LOGGING_LEVEL"))
+logging.configure(level=_get_default_logging_level())
 
 
 # Configure JAX.

jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev268'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev268')
+__version__ = version = '0.6.2.dev275'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev275')

jaxsim/mujoco/utils.py

@@ -145,6 +145,7 @@ class MujocoCamera:
     @staticmethod
     def build_from_target_view(
         camera_name: str,
+        mode: str = "fixed",
         lookat: Sequence[float | int] | npt.NDArray = (0, 0, 0),
         distance: float | int | npt.NDArray = 3,
         azimuth: float | int | npt.NDArray = 90,
@@ -166,6 +167,12 @@ class MujocoCamera:
 
         Args:
             camera_name: The name of the camera.
+            mode: Camera positioning mode:
+                - **"fixed"**: Fixed position and orientation relative to the body.
+                - **"track"**: Fixed offset from the body in world coordinates, constant orientation.
+                - **"trackcom"**: Like `"track"`, but relative to the center of mass of the subtree.
+                - **"targetbody"**: Fixed position in body frame, oriented toward a target body.
+                - **"targetbodycom"**: Like `"targetbody"`, but targets the subtree's center of mass.
             lookat: The target point to look at (origin of `T`).
             distance:
                 The distance from the target point (displacement between the origins
@@ -214,7 +221,7 @@ class MujocoCamera:
 
         return MujocoCamera.build(
             name=camera_name,
-            mode="fixed",
+            mode=mode,
             fovy=f"{fovy if degrees else np.rad2deg(fovy)}",
             pos=" ".join(p.astype(str).tolist()),
             quat=" ".join(Q.astype(str).tolist()),

jaxsim/parsers/descriptions/model.py

@@ -164,6 +164,12 @@ class ModelDescription(KinematicGraph):
             A `ModelDescription` instance that only includes the considered joints.
         """
 
+        logging.warning(
+            "The joint order in the model description is not preserved when reducing "
+            "the model. Consider using the `names_to_indices` method to get the correct "
+            "order of the joints, or use the `joint_names()` method to inspect the internal joint ordering."
+        )
+
         if len(set(considered_joints) - set(self.joint_names())) != 0:
             extra_joints = set(considered_joints) - set(self.joint_names())
             msg = f"Found joints not part of the model: {extra_joints}"

jaxsim/parsers/kinematic_graph.py

@@ -453,7 +453,7 @@ class KinematicGraph(Sequence[LinkDescription]):
             parent_of_link_to_remove = links_dict[link.parent_name]
 
             msg = "Lumping chain: {}->({})->{}"
-            logging.info(
+            logging.debug(
                 msg.format(
                     link_to_remove.name,
                     self.joints_connection_dict[

jaxsim/parsers/rod/parser.py

@@ -75,7 +75,7 @@ def extract_model_data(
             )
 
     # Log model name.
-    logging.debug(msg=f"Found model '{sdf_model.name}' in SDF resource")
+    logging.info(msg=f"Found model '{sdf_model.name}' in SDF resource")
 
     # Jaxsim supports only models compatible with URDF, i.e. those having all links
     # directly attached to their parent joint without additional roto-translations.
@@ -187,7 +187,7 @@ def extract_model_data(
         base_link_name = joints_with_world_parent[0].child.name
 
         msg = "Combining the pose of base link '{}' with the pose of joint '{}'"
-        logging.info(msg.format(base_link_name, joints_with_world_parent[0].name))
+        logging.debug(msg.format(base_link_name, joints_with_world_parent[0].name))
 
         # Combine the pose of the base link (child of the found fixed joint)
         # with the pose of the fixed joint connecting with the world.

jaxsim/rbda/contacts/rigid.py

@@ -140,7 +140,7 @@ class RigidContacts(ContactModel):
         """
 
         if len(kwargs) != 0:
-            logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
+            logging.warning(msg=f"Ignoring extra arguments: {kwargs}")
 
         # Get the default solver options.
         default_solver_options = dict(

jaxsim/rbda/contacts/soft.py

@@ -147,7 +147,7 @@ class SoftContacts(common.ContactModel):
         """
 
         if len(kwargs) != 0:
-            logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
+            logging.warning(msg=f"Ignoring extra arguments: {kwargs}")
 
         return cls(**kwargs)
 

{jaxsim-0.6.2.dev268.dist-info → jaxsim-0.6.2.dev275.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev268
+Version: 0.6.2.dev275
 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.dev268.dist-info → jaxsim-0.6.2.dev275.dist-info}/RECORD

@@ -1,5 +1,5 @@
-jaxsim/__init__.py,sha256=b8dYoVXqtHxHcF56iM2xgKk78lsvmGrfDlvdwaGasgs,3388
-jaxsim/_version.py,sha256=G5WlUht78Gn_ag9exhuo_CZBhZy-O3Vz04rgdX-36sc,528
+jaxsim/__init__.py,sha256=EKeysKN-7UswwJLCl7n6qIBKQIVUtYsCMYu_tCoFn7g,3628
+jaxsim/_version.py,sha256=uEPZz1l86LTWP3KMvIugzbiPUShQy5zGVj-JygP8r_A,528
 jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -31,18 +31,18 @@ jaxsim/mujoco/__init__.py,sha256=1kAWzYOS7nP29S5FGyWPqiAnPf4yPSoaPW-WBGBjVV0,214
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
 jaxsim/mujoco/loaders.py,sha256=OCk1T11iIm3qZUibNpo_bxxLgaGSkCpLt7ae_ND0ExA,23272
 jaxsim/mujoco/model.py,sha256=bRXo1uhWDN37sP9qdejr_2vq_PXHQ7p6eyBlFff_JcE,16492
-jaxsim/mujoco/utils.py,sha256=dW3LrcM050-eVVdLuCiN3StIrTEfyk_jJyq1GiNh3fg,8396
+jaxsim/mujoco/utils.py,sha256=r8BFrFAkW3lMAnEM3YUGZYLBNT2ptln4qDPm68CYrJk,8951
 jaxsim/mujoco/visualizer.py,sha256=cmI6DhFb1XC7oEtg_wl-s-U56dWHA-F7GlBD6EDYTyA,7744
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-jaxsim/parsers/kinematic_graph.py,sha256=s6sKPOGj_St4dfooNhE5a4F4tO3qTODErLYx8dfZRJk,35757
+jaxsim/parsers/kinematic_graph.py,sha256=ARq11Pv6yMDZeRRDlqrWzfVfUS7qSDwR57aWA4k54as,35758
 jaxsim/parsers/descriptions/__init__.py,sha256=N_hp8cGI5FyEFiuNx9a-CAGCr0F0QpYEpdMHvwB7_1g,261
 jaxsim/parsers/descriptions/collision.py,sha256=C6SekAPL2tNG62Y-lTqj1m9BblhoTZDj2F2vgspKNbI,4577
 jaxsim/parsers/descriptions/joint.py,sha256=MurLIHHmu-y_bwUcR_J1NZ-FjfRZRk166zKsn6VzIwE,4232
 jaxsim/parsers/descriptions/link.py,sha256=au5XP_7O_UG7WG07RZ6y5VXkLqjgx9aBmlrPCMxgzbo,3495
-jaxsim/parsers/descriptions/model.py,sha256=LNmNed6myIhrUkSa0zp5XBt4GsDVB34tFqusNj3rdAk,9876
+jaxsim/parsers/descriptions/model.py,sha256=KiYpJp0JSs8nxvEmdLtm9DJhZN6NUXGJv0mVVMNDYx8,10198
 jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrGU,92
 jaxsim/parsers/rod/meshes.py,sha256=yAXefG73_zqbVKRUdlcz9yFmypjDIpiP9cO96PeAozE,2842
-jaxsim/parsers/rod/parser.py,sha256=vaOlvlvgQCEGbymFc21praHKEVq_LqqlKeRJNv7tZiE,14398
+jaxsim/parsers/rod/parser.py,sha256=rmj-W5ekdcIe_Lu66nxTKkgwxF7vGDZdNkfcYYlU-Yc,14398
 jaxsim/parsers/rod/utils.py,sha256=wmD-wCF1lLO8pknX7A3a8CGt9wDlTS_xCqQulcZ_XlM,8242
 jaxsim/rbda/__init__.py,sha256=ksfupKZzeJyysxrbyMyEfszUdBH6LfCfkSz3KLfODhY,328
 jaxsim/rbda/aba.py,sha256=jxvss3XL8pBaT40bWG5pHcH9f1DDl3LoRqdnpFSlCWo,9030
@@ -57,16 +57,16 @@ jaxsim/rbda/actuation/common.py,sha256=aGFqO4VTgQLsTJyOtVuoa_otT_RbkckmG3rq7wjOy
 jaxsim/rbda/contacts/__init__.py,sha256=resrBkTdOA-1YMdcdUH2RATEhAf_Ye6MQNtjG3ClMYQ,371
 jaxsim/rbda/contacts/common.py,sha256=qVm3Ghoytg1HAeykNrYw5-4rQJ4Mv7h0Pk75ETzGXyc,9045
 jaxsim/rbda/contacts/relaxed_rigid.py,sha256=RjeLF06Pp19qio447U9z5EdhdM6nyMh-ISQX_2-vdaE,21349
-jaxsim/rbda/contacts/rigid.py,sha256=gHOpNQ_sk7nQcpGAE_nFOSq8fza2yFv_Mqqs-e118q8,17603
-jaxsim/rbda/contacts/soft.py,sha256=Ac9aWDdjAm55Mv9LLnEs3nj7hX_NvJMnicV35SbFLSY,15282
+jaxsim/rbda/contacts/rigid.py,sha256=I_TjsT-84ywou2idYioqekeQbIOHTdHI54vot8ijMPk,17605
+jaxsim/rbda/contacts/soft.py,sha256=a7NYMknPfWKfCdbVu83ttDu1u_gssIRvxe9L1622tM0,15284
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=so8kqVsUlPXqOKQ_UaYW6HE4XS8nTZRdFdXQyhB2tG4,6725
 jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=XzmZeIibcaOzaxpprsGSxH3UrM66PAO456rFV91sNXg,11453
 jaxsim/utils/tracing.py,sha256=Btwxdfhb7fJLk3r5PlQkGYj60Y2KbFT1gANGIA697FU,530
 jaxsim/utils/wrappers.py,sha256=3IMwydqFgmSPqeuUQ3PRmdhDc1IoT6XC23jPC_LjWXs,4175
-jaxsim-0.6.2.dev268.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.6.2.dev268.dist-info/METADATA,sha256=S6tktGDrDX-VwaW-4yi5b0DoFYrf76V0nJevh60voM8,19658
-jaxsim-0.6.2.dev268.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
-jaxsim-0.6.2.dev268.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.6.2.dev268.dist-info/RECORD,,
+jaxsim-0.6.2.dev275.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.6.2.dev275.dist-info/METADATA,sha256=e5w1a7yy022p-SYfLO1ujlQf8zXeqx14Mfk5iZu9lvg,19658
+jaxsim-0.6.2.dev275.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
+jaxsim-0.6.2.dev275.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.6.2.dev275.dist-info/RECORD,,