jaxsim 0.6.2.dev2__tar.gz → 0.6.2.dev105__tar.gz

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/.github/workflows/ci_cd.yml

@@ -16,7 +16,7 @@ jobs:
 
   package:
     name: Package the project
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
 
     steps:
 
@@ -58,7 +58,7 @@ jobs:
       fail-fast: false
       matrix:
         os:
-          - ubuntu-22.04
+          - ubuntu-latest
           - macos-latest
           - windows-latest
         python:
@@ -124,11 +124,11 @@ jobs:
            steps.changes.outputs.all == 'true')
         run: |
           sudo apt-get update
-          sudo apt-get install lsb-release wget gnupg
-          sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+          sudo apt-get install lsb-release gnupg
+          sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
           echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
           sudo apt-get update
-          sudo apt-get install --no-install-recommends libsdformat13 gz-tools2
+          sudo apt-get install gz-ionic sdf
 
       - name: Run the Python tests
         if: |
@@ -144,7 +144,7 @@ jobs:
   publish:
     name: Publish to PyPI
     needs: test
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     permissions:
         id-token: write
 

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.6.2.dev2
+Version: 0.6.2.dev105
 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>
@@ -98,9 +98,8 @@ Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
 <br/>
 <table>
   <tr>
-    <th><img src="https://github.com/user-attachments/assets/115b1c1c-6ae5-4c59-92e0-1be13ba954db" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/ae8adadf-3bca-47b8-97ca-3a9273633d60" width="250"></th>
+    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="500"></th>
+    <th><img src="https://github.com/user-attachments/assets/62b88b9d-45ea-4d22-99d2-f24fc842dd29" width="500"></th>
   </tr>
 </table>
 <br/>
@@ -143,15 +142,14 @@ model = js.model.reduce(model=full_model, considered_joints=joints)
 
 ndof = model.dofs()
 # Initialize data and simulation
-data = js.data.JaxSimModelData.zero(model=model).reset_base_position(
-    base_position=jnp.array([0.0, 0.0, 1.0])
-)
+# Note that the default data representation is mixed velocity representation
+data = js.data.JaxSimModelData.build(model=model,base_position=jnp.array([0.0, 0.0, 1.0]))
 T = jnp.arange(start=0, stop=1.0, step=model.time_step)
 tau = jnp.zeros(ndof)
 
 # Simulate
 for t in T:
-    data, _ = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
+    data = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
 
 ```
 

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/README.md

@@ -6,9 +6,8 @@
 <br/>
 <table>
   <tr>
-    <th><img src="https://github.com/user-attachments/assets/115b1c1c-6ae5-4c59-92e0-1be13ba954db" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/ae8adadf-3bca-47b8-97ca-3a9273633d60" width="250"></th>
+    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="500"></th>
+    <th><img src="https://github.com/user-attachments/assets/62b88b9d-45ea-4d22-99d2-f24fc842dd29" width="500"></th>
   </tr>
 </table>
 <br/>
@@ -51,15 +50,14 @@ model = js.model.reduce(model=full_model, considered_joints=joints)
 
 ndof = model.dofs()
 # Initialize data and simulation
-data = js.data.JaxSimModelData.zero(model=model).reset_base_position(
-    base_position=jnp.array([0.0, 0.0, 1.0])
-)
+# Note that the default data representation is mixed velocity representation
+data = js.data.JaxSimModelData.build(model=model,base_position=jnp.array([0.0, 0.0, 1.0]))
 T = jnp.arange(start=0, stop=1.0, step=model.time_step)
 tau = jnp.zeros(ndof)
 
 # Simulate
 for t in T:
-    data, _ = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
+    data = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
 
 ```
 

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/docs/guide/configuration.rst

@@ -61,7 +61,7 @@ The logging and exceptions configurations is controlled by the following environ
 
   *Default:* ``DEBUG`` for development, ``WARNING`` for production.
 
-- ``JAXSIM_DISABLE_EXCEPTIONS``: Disables the runtime checks and exceptions.
+- ``JAXSIM_ENABLE_EXCEPTIONS``: Enables the runtime checks and exceptions. Note that enabling exceptions might lead to device-to-host transfer of data, increasing the computational time required.
 
   *Default:* ``False``.
 

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/examples/jaxsim_as_multibody_dynamics_library.ipynb

@@ -261,8 +261,8 @@
     "data = js.data.random_model_data(model=model)\n",
     "\n",
     "# Print the default state.\n",
-    "W_H_B, s = data.generalized_position()\n",
-    "ν = data.generalized_velocity()\n",
+    "W_H_B, s = data.generalized_position\n",
+    "ν = data.generalized_velocity\n",
     "\n",
     "print(f\"W_H_B: shape={W_H_B.shape}\\n{W_H_B}\\n\")\n",
     "print(f\"s: shape={s.shape}\\n{s}\\n\")\n",
@@ -365,12 +365,6 @@
     "# Compute its pose w.r.t. the world frame through forward kinematics.\n",
     "W_H_L = js.link.transform(model=model, data=data, link_index=link_index)\n",
     "\n",
-    "# Alternatively, the same transform can be extracted from the tensor of\n",
-    "# all link transforms.\n",
-    "assert jnp.allclose(\n",
-    "    W_H_L, js.model.forward_kinematics(model=model, data=data)[link_index]\n",
-    ")\n",
-    "\n",
     "print(f\"Transform of '{link_name}': shape={W_H_L.shape}\\n{W_H_L}\")"
    ]
   },
@@ -406,7 +400,7 @@
     "with data.switch_velocity_representation(VelRepr.Body):\n",
     "\n",
     "    # Body-fixed generalized velocity.\n",
-    "    B_ν = data.generalized_velocity()\n",
+    "    B_ν = data.generalized_velocity\n",
     "\n",
     "    # Free-floating Jacobian accepting a body-fixed generalized velocity and\n",
     "    # returning an inertial-fixed link velocity.\n",
@@ -479,7 +473,7 @@
     "with data.switch_velocity_representation(VelRepr.Body):\n",
     "\n",
     "    # Body-fixed generalized velocity.\n",
-    "    B_ν = data.generalized_velocity()\n",
+    "    B_ν = data.generalized_velocity\n",
     "\n",
     "    # Free-floating Jacobian accepting a body-fixed generalized velocity and\n",
     "    # returning an inertial-fixed link velocity.\n",
@@ -782,12 +776,11 @@
     ")\n",
     "\n",
     "# Compute the 3D gravity vector and the total mass of the robot.\n",
-    "W_g = data.gravity\n",
     "m = js.model.total_mass(model=model)\n",
     "\n",
     "# The centroidal dynamics can be computed as follows.\n",
     "G_ḣ = 0\n",
-    "G_ḣ += m * jnp.hstack([W_g, jnp.zeros(3)])\n",
+    "G_ḣ += m * jnp.hstack([0, 0, model.gravity, 0, 0, 0])\n",
     "G_ḣ += jnp.einsum(\"c66,c6->6\", G_Xf_C, jnp.hstack([C_fl, jnp.zeros_like(C_fl)]))\n",
     "print(f\"G_ḣ:    shape={G_ḣ.shape}\")"
    ]
@@ -839,7 +832,7 @@
     "):\n",
     "\n",
     "    # Compute the mixed generalized velocity.\n",
-    "    BW_ν = data.generalized_velocity()\n",
+    "    BW_ν = data.generalized_velocity\n",
     "\n",
     "    # Compute the mixed generalized acceleration.\n",
     "    BW_ν̇ = jnp.hstack(\n",
@@ -876,44 +869,7 @@
     "W_p̈_C = 0\n",
     "W_p̈_C += jnp.einsum(\"c3g,g->c3\", J̇l_WC, BW_ν)\n",
     "W_p̈_C += jnp.einsum(\"c3g,g->c3\", Jl_WC, BW_ν̇)\n",
-    "print(f\"W_p̈_C: shape={W_p̈_C.shape}\")\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "rrSfxp8lh9YZ"
-   },
-   "source": [
-    "### Contact Forces\n",
-    "\n",
-    "To conclude, JaxSim also provides different contact models to compute the contact forces. However, these forces are mainly related to the usage of JaxSim as a simulator rather than as a multibody dynamics library. This use case is shown in more details in other examples.\n",
-    "\n",
-    "Here below we report the function to call to compute the contact forces using the default contact model stored in the `JaxSimModel`."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {
-    "colab": {
-     "base_uri": "https://localhost:8080/"
-    },
-    "id": "Ot6HePB_twaE",
-    "outputId": "02a6abae-257e-45ee-e9de-6a607cdbeb9a"
-   },
-   "outputs": [],
-   "source": [
-    "print(f\"Active contact model: {type(model.contact_model)}\\n\")\n",
-    "\n",
-    "# Compute the contact forces.\n",
-    "W_f_C = js.contact.collidable_point_forces(\n",
-    "    model=model,\n",
-    "    data=data,\n",
-    "    link_forces=references.link_forces(model=model, data=data),\n",
-    "    joint_force_references=references.joint_force_references(model=model),\n",
-    ")\n",
-    "print(f\"W_f_C: shape={W_f_C.shape}\")"
+    "print(f\"W_p̈_C: shape={W_p̈_C.shape}\")"
    ]
   },
   {
@@ -944,7 +900,7 @@
    "toc_visible": true
   },
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": "comodo_jaxsim",
    "language": "python",
    "name": "python3"
   },
@@ -958,7 +914,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.15"
+   "version": "3.12.8"
   }
  },
  "nbformat": 4,

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/examples/jaxsim_as_physics_engine.ipynb

@@ -52,6 +52,7 @@
     "# Set environment variable to avoid GPU out of memory errors\n",
     "%env XLA_PYTHON_CLIENT_MEM_PREALLOCATE=false\n",
     "\n",
+    "\n",
     "# ================\n",
     "# Notebook imports\n",
     "# ================\n",
@@ -148,9 +149,7 @@
    "outputs": [],
    "source": [
     "# Create the data of a single model.\n",
-    "data_zero = js.data.JaxSimModelData.zero(model=model)\n",
-    "base_position = jnp.array([0.0, 0.0, 1.0])\n",
-    "data = data_zero.reset_base_position(base_position=base_position)  # Note that the reset position returns the updated data object"
+    "data = js.data.JaxSimModelData.build(model=model, base_position=jnp.array([0.0, 0.0, 1.0]))"
    ]
   },
   {
@@ -175,7 +174,7 @@
     "\n",
     "# Simulate\n",
     "for _t in T:\n",
-    "    data, _ = js.model.step(\n",
+    "    data = js.model.step(\n",
     "        model=model,\n",
     "        data=data,\n",
     "        link_forces=None,\n",
@@ -234,12 +233,11 @@
     "# Then we have to create the vector of initial state\n",
     "batch_size = 5\n",
     "data_batch_t0 = jax.vmap(\n",
-    "    lambda pos: data_zero.reset_base_position(base_position=pos)\n",
-    ")(jnp.tile(jnp.array([0.0, 0.0, 1.0]), (batch_size, 1)))\n",
+    "    lambda pos:  js.data.JaxSimModelData.build(model=model, base_position=pos))(jnp.tile(jnp.array([0.0, 0.0, 1.0]), (batch_size, 1)))\n",
     "\n",
     "data = data_batch_t0\n",
     "for _t in T:\n",
-    "    data, _ = step_parallel(model, data)"
+    "    data = step_parallel(model, data)"
    ]
   }
  ],
@@ -266,7 +264,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.13.0"
+   "version": "3.13.1"
   }
  },
  "nbformat": 4,

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/examples/jaxsim_as_physics_engine_advanced.ipynb

@@ -61,9 +61,9 @@
     "import os\n",
     "\n",
     "import jax\n",
+    "\n",
     "import jax.numpy as jnp\n",
     "import jaxsim.api as js\n",
-    "import jaxsim\n",
     "import rod\n",
     "from jaxsim import logging\n",
     "from rod.builder.primitives import SphereBuilder\n",
@@ -163,7 +163,6 @@
     "model = js.model.JaxSimModel.build_from_model_description(\n",
     "    model_description=model_sdf_string,\n",
     "    time_step=0.001,\n",
-    "    integrator=jaxsim.integrators.fixed_step.Heun2,\n",
     ")\n",
     "\n",
     "# Create the data of a single model.\n",
@@ -171,76 +170,6 @@
     "data_single = js.data.JaxSimModelData.zero(model=model)"
    ]
   },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "FJF-HoWaiK9J"
-   },
-   "source": [
-    "### Select the contact model\n",
-    "\n",
-    "JaxSim offers several contact models, with the default being the non-linear Hunt/Crossley soft contact model. This model supports stick/slip transitions and fully accounts for friction cones.\n",
-    "\n",
-    "While it is faster than other models, it requires careful parameter tuning and may need a small time step $\\Delta t$, unless a variable-step integrator is used.\n",
-    "\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {
-    "id": "VAaitHRKjnwc"
-   },
-   "outputs": [],
-   "source": [
-    "import jaxsim\n",
-    "\n",
-    "# Operate on a copy of the model.\n",
-    "# When validate=True, this context manager ensures that the PyTree structure\n",
-    "# of the object is not altered. This is a nice feature of JaxSim to spot\n",
-    "# earlier user logic that might trigger unwanted JIT recompilations.\n",
-    "# In this case, we need to disable validation since PyTree structure might\n",
-    "# change if you use a contact model different from the default.\n",
-    "with model.editable(validate=False) as model:\n",
-    "\n",
-    "    # The SoftContacts class can be replaced with a different contact model.\n",
-    "    model.contact_model = jaxsim.rbda.contacts.SoftContacts.build()\n",
-    "\n",
-    "# JaxSim provides the following helper that estimates good contact\n",
-    "# parameters. While they might not be optimal, usually are a good\n",
-    "# starting point. Users are encouraged to fine-tune them.\n",
-    "contacts_params = js.contact.estimate_good_contact_parameters(\n",
-    "    model=model,\n",
-    "    number_of_active_collidable_points_steady_state=4,\n",
-    "    max_penetration=0.001,\n",
-    ")\n",
-    "\n",
-    "# Print the contact parameters.\n",
-    "# Note that these parameters are the nominal parameters shared among\n",
-    "# all parallel instances. If needed, they can be overridden in the\n",
-    "# vectorized data object that will be created later.\n",
-    "print(contacts_params)\n",
-    "\n",
-    "# Update the data object with the new contact model parameters.\n",
-    "data_single = data_single.replace(contacts_params=contacts_params, validate=False)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "6REY2bq3lc_k"
-   },
-   "source": [
-    "### Select the integrator\n",
-    "\n",
-    "JaxSim offers various integrators, ranging from basic ones like `ForwardEuler` to higher-order methods like `RungeKutta4`. You can explore the available integrators in the following modules:\n",
-    "\n",
-    "- `jaxsim.integrators.fixed_step`\n",
-    "- `jaxsim.integrators.variable_step`\n",
-    "\n",
-    "The `*SO3` variants update the integration scheme by integrating more accurately the base orientation on the $\\text{SO}(3)$ manifold."
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -249,7 +178,6 @@
    },
    "outputs": [],
    "source": [
-    "print(f\"Using integrator: {model.integrator}\")\n",
     "\n",
     "# Initialize the simulated time.\n",
     "T = jnp.arange(start=0, stop=1.0, step=model.time_step)"
@@ -295,11 +223,10 @@
     "        base_pos_bounds=([0, 0, 0.3], [0, 0, 0.6]),\n",
     "        base_vel_lin_bounds=(0, 0),\n",
     "        base_vel_ang_bounds=(0, 0),\n",
-    "        contacts_params=contacts_params,\n",
     "    )\n",
     ")(jnp.vstack(subkeys))\n",
     "\n",
-    "print(\"W_p_B(t0)=\\n\", data_batch_t0.base_position()[0:10])"
+    "print(\"W_p_B(t0)=\\n\", data_batch_t0.base_position[0:10])"
    ]
   },
   {
@@ -373,7 +300,7 @@
     "\n",
     "for _ in T:\n",
     "\n",
-    "    data, _ = step_parallel(model, data)\n",
+    "    data = step_parallel(model, data)\n",
     "    data_trajectory_list.append(data)"
    ]
   },
@@ -398,7 +325,7 @@
     "# This operation is called 'tree transpose' in JAX.\n",
     "data_trajectory = jax.tree.map(lambda *leafs: jnp.stack(leafs), *data_trajectory_list)\n",
     "\n",
-    "print(f\"W_p_B: shape={data_trajectory.base_position().shape}\")"
+    "print(f\"W_p_B: shape={data_trajectory.base_position.shape}\")"
    ]
   },
   {
@@ -412,7 +339,7 @@
     "import matplotlib.pyplot as plt\n",
     "\n",
     "\n",
-    "plt.plot(T, data_trajectory.base_position()[:, 0:5, 2])\n",
+    "plt.plot(T, data_trajectory.base_position[:, 0:5, 2])\n",
     "plt.grid(True)\n",
     "plt.xlabel(\"Time [s]\")\n",
     "plt.ylabel(\"Height [m]\")\n",
@@ -420,25 +347,6 @@
     "plt.show()"
    ]
   },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "N92-WjPFGuua"
-   },
-   "source": [
-    "# Conclusions\n",
-    "\n",
-    "This notebook introduced the key APIs of JaxSim as a hardware-accelerated parallel physics engine. Key takeaways:\n",
-    "\n",
-    "- **Contact models**: trajectories are sensitive to the contact model used. Explore the `jaxsim.rbda.contacts` package to find the best fit, as each model comes with trade-offs.\n",
-    "- **Integrator selection**: the choice of integrator affects both accuracy and speed. Experiment with options in the `jaxsim.integrators` package to optimize for your application and hardware accelerator.\n",
-    "- **Time step**: the interaction between contact models and integrators depends on the integration step $\\Delta t$. Choose the largest stable time step that guarantees for stable simulations.\n",
-    "- **Automatic vectorization**: this notebook demonstrated one way to use `jax.vmap`, but there are many other approaches. As you become more familiar with JAX, you'll discover better methods tailored to your needs.\n",
-    "- **Advanced applications**: Combine `jax.jit` and `jax.vmap` with `jax.grad`, `jax.jacfwd`, and `jax.jacrev` for gradient-based learning and other advanced tasks (not covered here).\n",
-    "\n",
-    "Have fun!"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -454,7 +362,7 @@
    "toc_visible": true
   },
   "kernelspec": {
-   "display_name": "rsl",
+   "display_name": "comodo_jaxsim",
    "language": "python",
    "name": "python3"
   },
@@ -468,7 +376,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.12.7"
+   "version": "3.12.8"
   }
  },
  "nbformat": 4,

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/examples/jaxsim_for_robot_controllers.ipynb

@@ -239,13 +239,12 @@
     ")\n",
     "\n",
     "# Reset the state to the random joint positions.\n",
-    "data = data_zero.reset_joint_positions(positions=random_joint_positions)\n",
-    "\n",
+    "data = js.data.JaxSimModelData.build(model=model, joint_positions=random_joint_positions)\n",
     "\n",
     "for _ in T:\n",
     "\n",
     "    # Step the JaxSim simulation.\n",
-    "    data, _ = js.model.step(\n",
+    "    data = js.model.step(\n",
     "        model=model,\n",
     "        data=data,\n",
     "        joint_force_references=None,\n",
@@ -254,7 +253,7 @@
     "\n",
     "    # Update the MuJoCo data.\n",
     "    mj_model_helper.set_joint_positions(\n",
-    "        positions=data.joint_positions(), joint_names=model.joint_names()\n",
+    "        positions=data.joint_positions, joint_names=model.joint_names()\n",
     "    )\n",
     "\n",
     "    # Record a new video frame.\n",
@@ -343,8 +342,8 @@
     "    Mss = js.model.free_floating_mass_matrix(model=model, data=data)[6:, 6:]\n",
     "\n",
     "    # Get the current joint positions and velocities.\n",
-    "    s = data.joint_positions()\n",
-    "    ṡ = data.joint_velocities()\n",
+    "    s = data.joint_positions\n",
+    "    ṡ = data.joint_velocities\n",
     "\n",
     "    # Compute the actuated joint torques.\n",
     "    s_star = -kp * (s - s_des) - kd * (ṡ - s_dot_des)\n",
@@ -373,17 +372,9 @@
     "# @title Run the simulation\n",
     "\n",
     "# Initialize the data.\n",
-    "# Set the joint positions.\n",
-    "data = data_zero.reset_joint_positions(\n",
-    "    model=model,\n",
-    "    positions=jnp.array([-0.25, jnp.deg2rad(160)]),\n",
-    ")\n",
     "\n",
-    "# Set the joint velocities.\n",
-    "data = data.reset_joint_velocities(\n",
-    "    model=model,\n",
-    "    velocities=jnp.array([3.00, jnp.deg2rad(10) / model.time_step]),\n",
-    ")\n",
+    "# Set the joint positions.\n",
+    "data = js.data.JaxSimModelData.build(model=model, joint_positions=jnp.array([-0.25, jnp.deg2rad(160)]), joint_velocities=jnp.array([3.00, jnp.deg2rad(10) / model.time_step]))\n",
     "\n",
     "for _ in T:\n",
     "\n",
@@ -395,7 +386,7 @@
     "    )\n",
     "\n",
     "    # Step the JaxSim simulation.\n",
-    "    data, _ = js.model.step(\n",
+    "    data = js.model.step(\n",
     "        model=model,\n",
     "        data=data,\n",
     "        joint_force_references=τ,\n",
@@ -403,7 +394,7 @@
     "\n",
     "    # Update the MuJoCo data.\n",
     "    mj_model_helper.set_joint_positions(\n",
-    "        positions=data.joint_positions(), joint_names=model.joint_names()\n",
+    "        positions=data.joint_positions, joint_names=model.joint_names()\n",
     "    )\n",
     "\n",
     "    # Record a new video frame.\n",
@@ -452,7 +443,7 @@
    "toc_visible": true
   },
   "kernelspec": {
-   "display_name": "jaxsim",
+   "display_name": "comodo_jaxsim",
    "language": "python",
    "name": "python3"
   },
@@ -466,7 +457,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.13.1"
+   "version": "3.12.8"
   }
  },
  "nbformat": 4,

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/src/jaxsim/__init__.py

@@ -114,5 +114,5 @@ del _get_default_logging_level
 del _is_editable
 
 from . import terrain  # isort:skip
-from . import api, integrators, logging, math, rbda
+from . import api, logging, math, rbda
 from .api.common import VelRepr

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev2'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev2')
+__version__ = version = '0.6.2.dev105'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev105')

{jaxsim-0.6.2.dev2 → jaxsim-0.6.2.dev105}/src/jaxsim/api/__init__.py

@@ -1,13 +1,15 @@
 from . import common  # isort:skip
 from . import model, data  # isort:skip
 from . import (
+    actuation_model,
     com,
     contact,
+    contact_model,
     frame,
+    integrators,
     joint,
     kin_dyn_parameters,
     link,
     ode,
-    ode_data,
     references,
 )