jaxsim 0.6.2.dev273__tar.gz → 0.6.2.dev277__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 (135) hide show
  1. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/workflows/pixi.yml +1 -1
  2. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/PKG-INFO +1 -1
  3. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/_version.py +2 -2
  4. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/mujoco/utils.py +8 -1
  5. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim.egg-info/PKG-INFO +1 -1
  6. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.devcontainer/Dockerfile +0 -0
  7. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.devcontainer/devcontainer.json +0 -0
  8. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.gitattributes +0 -0
  9. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/CODEOWNERS +0 -0
  10. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/dependabot.yml +0 -0
  11. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/release.yml +0 -0
  12. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/workflows/ci_cd.yml +0 -0
  13. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/workflows/gpu_benchmark.yml +0 -0
  14. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/workflows/read_the_docs.yml +0 -0
  15. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.gitignore +0 -0
  16. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.pre-commit-config.yaml +0 -0
  17. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.readthedocs.yaml +0 -0
  18. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/CONTRIBUTING.md +0 -0
  19. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/LICENSE +0 -0
  20. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/README.md +0 -0
  21. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/Makefile +0 -0
  22. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/conf.py +0 -0
  23. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/examples.rst +0 -0
  24. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/guide/configuration.rst +0 -0
  25. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/guide/install.rst +0 -0
  26. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/index.rst +0 -0
  27. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/make.bat +0 -0
  28. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/modules/api.rst +0 -0
  29. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/modules/math.rst +0 -0
  30. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/modules/mujoco.rst +0 -0
  31. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/modules/parsers.rst +0 -0
  32. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/modules/rbda.rst +0 -0
  33. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/modules/typing.rst +0 -0
  34. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/docs/modules/utils.rst +0 -0
  35. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/environment.yml +0 -0
  36. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/.gitattributes +0 -0
  37. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/.gitignore +0 -0
  38. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/README.md +0 -0
  39. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/assets/build_cartpole_urdf.py +0 -0
  40. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/assets/cartpole.urdf +0 -0
  41. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/jaxsim_as_multibody_dynamics_library.ipynb +0 -0
  42. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/jaxsim_as_physics_engine.ipynb +0 -0
  43. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/jaxsim_as_physics_engine_advanced.ipynb +0 -0
  44. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/examples/jaxsim_for_robot_controllers.ipynb +0 -0
  45. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/pixi.lock +0 -0
  46. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/pyproject.toml +0 -0
  47. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/setup.cfg +0 -0
  48. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/setup.py +0 -0
  49. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/__init__.py +0 -0
  50. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/__init__.py +0 -0
  51. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/actuation_model.py +0 -0
  52. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/com.py +0 -0
  53. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/common.py +0 -0
  54. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/contact.py +0 -0
  55. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/data.py +0 -0
  56. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/frame.py +0 -0
  57. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/integrators.py +0 -0
  58. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/joint.py +0 -0
  59. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/kin_dyn_parameters.py +0 -0
  60. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/link.py +0 -0
  61. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/model.py +0 -0
  62. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/ode.py +0 -0
  63. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/api/references.py +0 -0
  64. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/exceptions.py +0 -0
  65. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/logging.py +0 -0
  66. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/__init__.py +0 -0
  67. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/adjoint.py +0 -0
  68. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/cross.py +0 -0
  69. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/inertia.py +0 -0
  70. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/joint_model.py +0 -0
  71. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/quaternion.py +0 -0
  72. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/rotation.py +0 -0
  73. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/skew.py +0 -0
  74. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/transform.py +0 -0
  75. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/math/utils.py +0 -0
  76. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/mujoco/__init__.py +0 -0
  77. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/mujoco/__main__.py +0 -0
  78. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/mujoco/loaders.py +0 -0
  79. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/mujoco/model.py +0 -0
  80. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/mujoco/visualizer.py +0 -0
  81. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/__init__.py +0 -0
  82. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  83. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  84. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  85. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/descriptions/link.py +0 -0
  86. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/descriptions/model.py +0 -0
  87. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  88. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/rod/__init__.py +0 -0
  89. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/rod/meshes.py +0 -0
  90. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/rod/parser.py +0 -0
  91. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/parsers/rod/utils.py +0 -0
  92. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/__init__.py +0 -0
  93. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/aba.py +0 -0
  94. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/actuation/__init__.py +0 -0
  95. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/actuation/common.py +0 -0
  96. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/collidable_points.py +0 -0
  97. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/contacts/__init__.py +0 -0
  98. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/contacts/common.py +0 -0
  99. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/contacts/relaxed_rigid.py +0 -0
  100. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/contacts/rigid.py +0 -0
  101. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/contacts/soft.py +0 -0
  102. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/crba.py +0 -0
  103. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  104. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/jacobian.py +0 -0
  105. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/rnea.py +0 -0
  106. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/rbda/utils.py +0 -0
  107. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/terrain/__init__.py +0 -0
  108. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/terrain/terrain.py +0 -0
  109. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/typing.py +0 -0
  110. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/utils/__init__.py +0 -0
  111. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  112. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/utils/tracing.py +0 -0
  113. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/utils/wrappers.py +0 -0
  114. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  115. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  116. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim.egg-info/requires.txt +0 -0
  117. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim.egg-info/top_level.txt +0 -0
  118. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/__init__.py +0 -0
  119. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/conftest.py +0 -0
  120. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_actuation.py +0 -0
  121. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_api_com.py +0 -0
  122. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_api_contact.py +0 -0
  123. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_api_data.py +0 -0
  124. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_api_frame.py +0 -0
  125. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_api_joint.py +0 -0
  126. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_api_link.py +0 -0
  127. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_api_model.py +0 -0
  128. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_automatic_differentiation.py +0 -0
  129. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_benchmark.py +0 -0
  130. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_exceptions.py +0 -0
  131. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_meshes.py +0 -0
  132. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_pytree.py +0 -0
  133. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_simulations.py +0 -0
  134. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/test_visualizer.py +0 -0
  135. {jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/tests/utils_idyntree.py +0 -0
{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.github/workflows/pixi.yml RENAMED
@@ -22,7 +22,7 @@ jobs:
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  lfs: true
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  - name: Set up pixi
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- uses: prefix-dev/setup-pixi@v0.8.3
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+ uses: prefix-dev/setup-pixi@v0.8.4
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  with:
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  run-install: false
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{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: jaxsim
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- Version: 0.6.2.dev273
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+ Version: 0.6.2.dev277
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  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
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  Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
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  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/_version.py RENAMED
@@ -17,5 +17,5 @@ __version__: str
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  __version_tuple__: VERSION_TUPLE
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  version_tuple: VERSION_TUPLE
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- __version__ = version = '0.6.2.dev273'
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- __version_tuple__ = version_tuple = (0, 6, 2, 'dev273')
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+ __version__ = version = '0.6.2.dev277'
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+ __version_tuple__ = version_tuple = (0, 6, 2, 'dev277')
{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim/mujoco/utils.py RENAMED
@@ -145,6 +145,7 @@ class MujocoCamera:
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  @staticmethod
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  def build_from_target_view(
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  camera_name: str,
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+ mode: str = "fixed",
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  lookat: Sequence[float | int] | npt.NDArray = (0, 0, 0),
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  distance: float | int | npt.NDArray = 3,
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  azimuth: float | int | npt.NDArray = 90,
@@ -166,6 +167,12 @@ class MujocoCamera:
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  Args:
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  camera_name: The name of the camera.
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+ mode: Camera positioning mode:
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+ - **"fixed"**: Fixed position and orientation relative to the body.
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+ - **"track"**: Fixed offset from the body in world coordinates, constant orientation.
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+ - **"trackcom"**: Like `"track"`, but relative to the center of mass of the subtree.
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+ - **"targetbody"**: Fixed position in body frame, oriented toward a target body.
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+ - **"targetbodycom"**: Like `"targetbody"`, but targets the subtree's center of mass.
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  lookat: The target point to look at (origin of `T`).
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  distance:
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  The distance from the target point (displacement between the origins
@@ -214,7 +221,7 @@ class MujocoCamera:
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  return MujocoCamera.build(
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  name=camera_name,
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- mode="fixed",
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+ mode=mode,
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  fovy=f"{fovy if degrees else np.rad2deg(fovy)}",
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  pos=" ".join(p.astype(str).tolist()),
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  quat=" ".join(Q.astype(str).tolist()),
{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/src/jaxsim.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: jaxsim
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- Version: 0.6.2.dev273
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+ Version: 0.6.2.dev277
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  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
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  Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
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  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/.gitignore RENAMED
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{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/LICENSE RENAMED
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{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/README.md RENAMED
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{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/pixi.lock RENAMED
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{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/setup.cfg RENAMED
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{jaxsim-0.6.2.dev273 → jaxsim-0.6.2.dev277}/setup.py RENAMED
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