jaxsim 0.7.1.dev32__tar.gz → 0.7.1.dev38__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-0.7.1.dev32 → jaxsim-0.7.1.dev38}/PKG-INFO +1 -1
  2. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/jaxsim_as_physics_engine_advanced.ipynb +1 -1
  3. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/_version.py +2 -2
  4. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/model.py +5 -3
  5. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim.egg-info/PKG-INFO +1 -1
  6. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.devcontainer/Dockerfile +0 -0
  7. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.devcontainer/devcontainer.json +0 -0
  8. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.gitattributes +0 -0
  9. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.github/CODEOWNERS +0 -0
  10. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.github/dependabot.yml +0 -0
  11. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.github/release.yml +0 -0
  12. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.github/workflows/ci_cd.yml +0 -0
  13. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.github/workflows/gpu_benchmark.yml +0 -0
  14. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.github/workflows/pixi.yml +0 -0
  15. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.github/workflows/read_the_docs.yml +0 -0
  16. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.gitignore +0 -0
  17. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.pre-commit-config.yaml +0 -0
  18. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.readthedocs.yaml +0 -0
  19. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/CONTRIBUTING.md +0 -0
  20. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/LICENSE +0 -0
  21. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/README.md +0 -0
  22. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/Makefile +0 -0
  23. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/conf.py +0 -0
  24. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/examples.rst +0 -0
  25. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/guide/configuration.rst +0 -0
  26. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/guide/install.rst +0 -0
  27. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/index.rst +0 -0
  28. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/make.bat +0 -0
  29. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/modules/api.rst +0 -0
  30. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/modules/math.rst +0 -0
  31. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/modules/mujoco.rst +0 -0
  32. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/modules/parsers.rst +0 -0
  33. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/modules/rbda.rst +0 -0
  34. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/modules/typing.rst +0 -0
  35. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/modules/utils.rst +0 -0
  36. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/environment.yml +0 -0
  37. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/.gitattributes +0 -0
  38. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/.gitignore +0 -0
  39. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/README.md +0 -0
  40. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/assets/build_cartpole_urdf.py +0 -0
  41. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/assets/cartpole.urdf +0 -0
  42. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/jaxsim_as_multibody_dynamics_library.ipynb +0 -0
  43. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/jaxsim_as_physics_engine.ipynb +0 -0
  44. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/jaxsim_for_robot_controllers.ipynb +0 -0
  45. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/pixi.lock +0 -0
  46. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/pyproject.toml +0 -0
  47. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/setup.cfg +0 -0
  48. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/__init__.py +0 -0
  49. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/__init__.py +0 -0
  50. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/actuation_model.py +0 -0
  51. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/com.py +0 -0
  52. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/common.py +0 -0
  53. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/contact.py +0 -0
  54. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/data.py +0 -0
  55. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/frame.py +0 -0
  56. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/integrators.py +0 -0
  57. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/joint.py +0 -0
  58. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/kin_dyn_parameters.py +0 -0
  59. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/link.py +0 -0
  60. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/ode.py +0 -0
  61. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/references.py +0 -0
  62. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/exceptions.py +0 -0
  63. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/logging.py +0 -0
  64. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/__init__.py +0 -0
  65. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/adjoint.py +0 -0
  66. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/cross.py +0 -0
  67. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/inertia.py +0 -0
  68. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/joint_model.py +0 -0
  69. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/quaternion.py +0 -0
  70. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/rotation.py +0 -0
  71. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/skew.py +0 -0
  72. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/transform.py +0 -0
  73. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/math/utils.py +0 -0
  74. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/mujoco/__init__.py +0 -0
  75. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/mujoco/__main__.py +0 -0
  76. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/mujoco/loaders.py +0 -0
  77. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/mujoco/model.py +0 -0
  78. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/mujoco/utils.py +0 -0
  79. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/mujoco/visualizer.py +0 -0
  80. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/__init__.py +0 -0
  81. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  82. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  83. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  84. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/descriptions/link.py +0 -0
  85. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/descriptions/model.py +0 -0
  86. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  87. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/rod/__init__.py +0 -0
  88. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/rod/meshes.py +0 -0
  89. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/rod/parser.py +0 -0
  90. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/parsers/rod/utils.py +0 -0
  91. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/__init__.py +0 -0
  92. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/aba.py +0 -0
  93. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/actuation/__init__.py +0 -0
  94. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/actuation/common.py +0 -0
  95. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/collidable_points.py +0 -0
  96. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/contacts/__init__.py +0 -0
  97. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/contacts/common.py +0 -0
  98. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/contacts/relaxed_rigid.py +0 -0
  99. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/contacts/rigid.py +0 -0
  100. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/contacts/soft.py +0 -0
  101. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/crba.py +0 -0
  102. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  103. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/jacobian.py +0 -0
  104. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/rnea.py +0 -0
  105. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/rbda/utils.py +0 -0
  106. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/terrain/__init__.py +0 -0
  107. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/terrain/terrain.py +0 -0
  108. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/typing.py +0 -0
  109. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/utils/__init__.py +0 -0
  110. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  111. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/utils/tracing.py +0 -0
  112. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/utils/wrappers.py +0 -0
  113. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  114. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  115. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim.egg-info/requires.txt +0 -0
  116. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim.egg-info/top_level.txt +0 -0
  117. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/__init__.py +0 -0
  118. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/conftest.py +0 -0
  119. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_actuation.py +0 -0
  120. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_com.py +0 -0
  121. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_contact.py +0 -0
  122. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_data.py +0 -0
  123. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_frame.py +0 -0
  124. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_joint.py +0 -0
  125. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_link.py +0 -0
  126. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_model.py +0 -0
  127. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_api_model_hw_parametrization.py +0 -0
  128. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_automatic_differentiation.py +0 -0
  129. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_benchmark.py +0 -0
  130. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_exceptions.py +0 -0
  131. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_meshes.py +0 -0
  132. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_pytree.py +0 -0
  133. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_simulations.py +0 -0
  134. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/test_visualizer.py +0 -0
  135. {jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/tests/utils_idyntree.py +0 -0
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: jaxsim
3
- Version: 0.7.1.dev32
3
+ Version: 0.7.1.dev38
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-0.7.1.dev32 → jaxsim-0.7.1.dev38}/examples/jaxsim_as_physics_engine_advanced.ipynb RENAMED
@@ -213,7 +213,7 @@
213
213
  "key = jax.random.PRNGKey(seed=0)\n",
214
214
  "\n",
215
215
  "# Split subkeys for sampling random initial data.\n",
216
- "batch_size = 16\n",
216
+ "batch_size = 9\n",
217
217
  "row_length = int(jnp.sqrt(batch_size))\n",
218
218
  "row_dist = 0.3 * row_length\n",
219
219
  "key, *subkeys = jax.random.split(key=key, num=batch_size + 1)\n",
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/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 = '0.7.1.dev32'
21
- __version_tuple__ = version_tuple = (0, 7, 1, 'dev32')
20
+ __version__ = version = '0.7.1.dev38'
21
+ __version_tuple__ = version_tuple = (0, 7, 1, 'dev38')
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim/api/model.py RENAMED
@@ -417,7 +417,9 @@ class JaxSimModel(JaxsimDataclass):
417
417
 
418
418
  # Skip unsupported links
419
419
  if not jnp.allclose(
420
- self.kin_dyn_parameters.joint_model.suc_H_i[link_index], jnp.eye(4)
420
+ self.kin_dyn_parameters.joint_model.suc_H_i[link_index],
421
+ jnp.eye(4),
422
+ **(dict(atol=1e-6) if not jax.config.jax_enable_x64 else dict()),
421
423
  ):
422
424
  logging.debug(
423
425
  f"Skipping link '{link_name}' for hardware parametrization due to unsupported suc_H_link."
@@ -559,7 +561,7 @@ class JaxSimModel(JaxsimDataclass):
559
561
  # Update visual pose
560
562
  links_dict[link_name].visual.pose = rod.Pose.from_transform(
561
563
  transform=np.array(hw_metadata.L_H_vis[link_index]),
562
- relative_to=links_dict[link_name].visual.pose.relative_to,
564
+ relative_to=link_name,
563
565
  )
564
566
 
565
567
  # Update joint poses
@@ -573,7 +575,7 @@ class JaxSimModel(JaxsimDataclass):
573
575
  transform=np.array(
574
576
  hw_metadata.L_H_pre[link_index, joint_index]
575
577
  ),
576
- relative_to=joints_dict[joint_name].pose.relative_to,
578
+ relative_to=link_name,
577
579
  )
578
580
 
579
581
  # Export the URDF string.
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/src/jaxsim.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: jaxsim
3
- Version: 0.7.1.dev32
3
+ Version: 0.7.1.dev38
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-0.7.1.dev32 → jaxsim-0.7.1.dev38}/.gitignore RENAMED
File without changes
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/LICENSE RENAMED
File without changes
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/README.md RENAMED
File without changes
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/Makefile RENAMED
File without changes
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/conf.py RENAMED
File without changes
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/docs/make.bat RENAMED
File without changes
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/pixi.lock RENAMED
File without changes
{jaxsim-0.7.1.dev32 → jaxsim-0.7.1.dev38}/setup.cfg RENAMED
File without changes