jaxsim 0.8.2.dev32__tar.gz

jaxsim-0.8.2.dev32/.devcontainer/Dockerfile

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+# syntax=docker/dockerfile:1.4
+FROM mcr.microsoft.com/devcontainers/base:jammy
+
+ARG PROJECT_NAME=jaxsim
+ARG PIXI_VERSION=v0.35.0
+
+RUN curl -o /usr/local/bin/pixi -SL https://github.com/prefix-dev/pixi/releases/download/${PIXI_VERSION}/pixi-$(uname -m)-unknown-linux-musl \
+    && chmod +x /usr/local/bin/pixi \
+    && pixi info
+
+# Add LFS repository and install.
+RUN apt-get update && apt-get install -y curl \
+    && curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash \
+    && apt install -y git-lfs
+
+USER vscode
+WORKDIR /home/vscode
+
+RUN echo 'eval "$(pixi completion -s bash)"' >> /home/vscode/.bashrc

jaxsim-0.8.2.dev32/.devcontainer/devcontainer.json

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+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
+{
+	"name": "Ubuntu",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"build": {
+		"context": "..",
+		"dockerfile": "Dockerfile"
+	},
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	"features": {
+        "ghcr.io/devcontainers/features/docker-in-docker:2": {}
+    },
+
+    // Put `.pixi` folder in a mounted volume of a case-insensitive filesystem.
+    "mounts": ["source=${localWorkspaceFolderBasename}-pixi,target=${containerWorkspaceFolder}/.pixi,type=volume"],
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	"postCreateCommand": "sudo chown vscode .pixi && git lfs pull --include='pixi.lock' && pixi install --environment=test-cpu",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+
+	// VSCode extensions
+	"customizations": {
+		"vscode": {
+			"settings": {
+                		"python.pythonPath": "/workspaces/jaxsim/.pixi/envs/test-cpu/bin/python",
+				"python.defaultInterpreterPath": "/workspaces/jaxsim/.pixi/envs/test-cpu/bin/python",
+				"python.terminal.activateEnvironment": true,
+				"python.terminal.activateEnvInCurrentTerminal": true
+			},
+			"extensions": [
+				"ms-python.python",
+				"donjayamanne.python-extension-pack",
+				"ms-toolsai.jupyter",
+				"GitHub.codespaces",
+                		"GitHub.copilot",
+				"ms-azuretools.vscode-docker",
+                		"charliermarsh.ruff"
+			]
+		}
+	}
+}

jaxsim-0.8.2.dev32/.gitattributes

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+# GitHub syntax highlighting
+pixi.lock filter=lfs diff=lfs merge=lfs -text

jaxsim-0.8.2.dev32/.github/CODEOWNERS

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+*       @flferretti @xela-95

jaxsim-0.8.2.dev32/.github/dependabot.yml

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+version: 2
+updates:
+
+  # Check for updates to GitHub Actions every month.
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: monthly
+    # Disable rebasing automatically existing pull requests.
+    rebase-strategy: "disabled"
+    # Group updates to a single PR.
+    groups:
+      dependencies:
+        patterns:
+          - '*'

jaxsim-0.8.2.dev32/.github/release.yml

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+changelog:
+  exclude:
+    authors:
+      - dependabot[bot]
+      - pre-commit-ci[bot]
+      - github-actions[bot]

jaxsim-0.8.2.dev32/.github/workflows/ci_cd.yml

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+name: Python CI/CD
+
+on:
+  workflow_dispatch:
+  push:
+  pull_request:
+  release:
+    types:
+      - published
+  schedule:
+  # Execute a nightly build at 2am UTC.
+  - cron:  '0 2 * * *'
+
+
+jobs:
+
+  package:
+    name: Package the project
+    runs-on: ubuntu-latest
+
+    steps:
+
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: "3.11"
+
+      - name: Install Python tools
+        run: pip install build twine
+
+      - name: Create distributions
+        run: python -m build -o dist/
+
+      - name: Inspect dist folder
+        run: ls -lah dist/
+
+      - name: Check wheel's abi and platform tags
+        run: test $(find dist/ -name *-none-any.whl | wc -l) -gt 0
+
+      - name: Run twine check
+        run: twine check dist/*
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v5
+        with:
+          path: dist/*
+          name: dist
+
+  test:
+    name: 'Python${{ matrix.python }}@${{ matrix.os }}'
+    needs: package
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-latest
+          - macos-latest
+          - windows-latest
+        python:
+          - "3.10"
+          - "3.11"
+          - "3.12"
+          - "3.13"
+
+    steps:
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: ${{ matrix.python }}
+
+      - name: Download Python packages
+        uses: actions/download-artifact@v6
+        with:
+          path: dist
+          name: dist
+
+      - name: Install wheel (ubuntu)
+        if: contains(matrix.os, 'ubuntu')
+        shell: bash
+        run: pip install "$(find dist/ -type f -name '*.whl')"
+
+      - name: Install wheel (macos|windows)
+        if: contains(matrix.os, 'macos') || contains(matrix.os, 'windows')
+        shell: bash
+        run: pip install "$(find dist/ -type f -name '*.whl')"
+
+      - name: Document installed pip packages
+        shell: bash
+        run: pip list --verbose
+
+      - name: Import the package
+        run: python -c "import jaxsim"
+
+      - uses: actions/checkout@v6
+        with:
+          lfs: true
+
+      - uses: prefix-dev/setup-pixi@v0.9.3
+        if: contains(matrix.os, 'ubuntu')
+        with:
+          pixi-version: "latest"
+          frozen: true
+          cache: true
+          cache-write: ${{ github.event_name == 'push' && github.ref_name == 'main' }}
+
+      - name: Ensure version file is written
+        if: |
+          contains(matrix.os, 'ubuntu') &&
+          (github.event_name != 'pull_request')
+        run: |
+          pixi run --frozen python -m setuptools_scm --force-write-version-file
+
+      - name: Run the Python tests
+        if: |
+          contains(matrix.os, 'ubuntu') &&
+          (github.event_name != 'pull_request')
+        run: pixi run --frozen test --numprocesses auto
+        env:
+          # https://github.com/pytest-dev/pytest/issues/7443#issuecomment-656642591
+          PY_COLORS: "1"
+          JAX_PLATFORM_NAME: cpu
+
+  publish:
+    name: Publish to PyPI
+    needs: test
+    runs-on: ubuntu-latest
+    permissions:
+        id-token: write
+
+    steps:
+
+      - name: Download Python packages
+        uses: actions/download-artifact@v6
+        with:
+          path: dist
+          name: dist
+
+      - name: Inspect dist folder
+        run: ls -lah dist/
+
+      - name: Publish to PyPI
+        if: |
+          github.repository == 'ami-iit/jaxsim' &&
+          ((github.event_name == 'push' && github.ref == 'refs/heads/main') ||
+           (github.event_name == 'release'))
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          skip-existing: true

jaxsim-0.8.2.dev32/.github/workflows/gpu_benchmark.yml

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+name: GPU Benchmarks
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0  * * 1" # Run At 00:00 on Monday
+
+permissions:
+  pull-requests: write
+  deployments: write
+  contents: write
+
+jobs:
+  benchmark:
+    runs-on: self-hosted
+    container:
+      image: ghcr.io/prefix-dev/pixi:0.46.0-noble@sha256:c12bcbe8ba5dfd71867495d3471b95a6993b79cc7de7eafec016f8f59e4e4961
+      options: --rm --gpus all --ipc=host --ulimit memlock=-1 --ulimit stack=67108864 -e "TERM=xterm-256color"
+
+    steps:
+      - name: Install Git and Git-LFS
+        run: |
+            apt update && apt install -y git git-lfs
+
+      - name: Checkout repository
+        uses: actions/checkout@v6
+        with:
+          lfs: true
+          fetch-depth: 0
+
+      - name: Fetch pixi.lock from LFS
+        run: |
+          git config --global safe.directory /__w/jaxsim/jaxsim
+          git lfs checkout pixi.lock
+
+      - name: Get main branch SHA
+        id: get-main-branch-sha
+        run: |
+          SHA=$(git rev-parse origin/main)
+          echo "sha=$SHA" >> $GITHUB_OUTPUT
+
+      - name: Get benchmark results from main branch
+        id: cache
+        uses: actions/cache/restore@v4
+        with:
+          path: ./cache
+          key: ${{ runner.os }}-benchmark
+
+      - name: Ensure version file is written
+        run: |
+            pixi run --frozen --environment gpu python -m setuptools_scm --force-write-version-file
+
+      - name: Run benchmark and store result
+        run: |
+            pixi run --frozen --environment gpu benchmark --batch-size 128 --benchmark-json output.json
+        env:
+            PY_COLORS: "1"
+
+      - name: Compare benchmark results with main branch
+        uses: benchmark-action/github-action-benchmark@v1.20.7
+        with:
+          tool: 'pytest'
+          output-file-path: output.json
+          external-data-json-path: ./cache/benchmark-data.json
+          save-data-file: false
+          fail-on-alert: true
+          summary-always: true
+          comment-always: true
+          alert-threshold: 150%
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Store benchmark result for main branch
+        uses: benchmark-action/github-action-benchmark@v1.20.7
+        if: ${{ github.ref_name == 'main' }}
+        with:
+          tool: 'pytest'
+          output-file-path: output.json
+          external-data-json-path: ./cache/benchmark-data.json
+          save-data-file: true
+          fail-on-alert: false
+          summary-always: true
+          comment-always: true
+          alert-threshold: 150%
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Publish Benchmark Results to GitHub Pages
+        uses: benchmark-action/github-action-benchmark@v1.20.7
+        if: ${{ github.ref_name == 'main' }}
+        with:
+          tool: 'pytest'
+          output-file-path: output.json
+          benchmark-data-dir-path: "benchmarks"
+          fail-on-alert: false
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          comment-on-alert: true
+          summary-always: true
+          save-data-file: true
+          alert-threshold: "150%"
+          auto-push: ${{ github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' }}
+
+      - name: Update Benchmark Results cache
+        uses: actions/cache/save@v4
+        if: ${{ github.ref_name == 'main' }}
+        with:
+          path: ./cache
+          key: ${{ runner.os }}-benchmark

jaxsim-0.8.2.dev32/.github/workflows/pixi.yml

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+name: Pixi
+
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    # Execute at 5am UTC on the first day of the month.
+    - cron: '0 5 1 * *'
+
+jobs:
+
+  pixi-update:
+    runs-on: ubuntu-24.04
+
+    steps:
+
+      - uses: actions/checkout@v6
+        with:
+          lfs: true
+
+      - name: Set up pixi
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          run-install: false
+
+      - name: Install pixi-diff-to-markdown
+        run: pixi global install pixi-diff-to-markdown
+
+      - name: Update pixi lockfile and generate diff
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown --explicit-column > diff.md
+
+      - name: Test project against updated pixi
+        run: pixi run --environment default test
+        env:
+          PY_COLORS: "1"
+          JAX_PLATFORM_NAME: cpu
+
+      - name: Commit and push changes
+        run: echo "BRANCH_NAME=update-pixi-$(date +'%Y%m%d%H%M%S')" >> $GITHUB_ENV
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v7
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: Update `pixi.lock`
+          title: Update `pixi` lockfile
+          body-path: diff.md
+          branch: ${{ env.BRANCH_NAME }}
+          base: main
+          labels: pixi
+          add-paths: pixi.lock
+          delete-branch: true
+          committer: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
+          author: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

jaxsim-0.8.2.dev32/.github/workflows/read_the_docs.yml

@@ -0,0 +1,18 @@
+name: Read the Docs PR
+on:
+  pull_request_target:
+    types:
+      - opened
+
+permissions:
+  pull-requests: write
+
+jobs:
+
+  documentation-links:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: readthedocs/actions/preview@v1
+        with:
+          project-slug: "jaxsim"
+          project-language: ""

jaxsim-0.8.2.dev32/.gitignore

@@ -0,0 +1,153 @@
+# IDEs
+.idea*
+.vscode/
+
+# Matlab
+*.m~
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+docs/_collections/
+docs/modules/_autosummary/
+docs/modules/generated
+docs/sg_execution_times.rst
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# setuptools_scm dynamic version
+src/jaxsim/_version.py
+
+# ruff
+.ruff_cache/
+
+# pixi environments
+.pixi
+
+# data
+.mp4
+.png

jaxsim-0.8.2.dev32/.pre-commit-config.yaml

@@ -0,0 +1,55 @@
+ci:
+  autofix_prs: false
+  autoupdate_schedule: quarterly
+  submodules: false
+
+default_language_version:
+  python: python3
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    hooks:
+    - id: check-ast
+    - id: check-merge-conflict
+    - id: check-yaml
+    - id: end-of-file-fixer
+    - id: trailing-whitespace
+    - id: check-toml
+    - id: check-added-large-files
+      args: ["--maxkb=2000"]
+
+  - repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 25.9.0
+    hooks:
+      - id: black
+        args: ["--check", "--diff"]
+
+  - repo: https://github.com/pycqa/isort
+    rev: 6.1.0
+    hooks:
+      - id: isort
+        args: ["--check", "--diff"]
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+      - id: codespell
+        args: ["-S", "*.lock"]
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.13.3
+    hooks:
+      - id: ruff
+
+  - repo: https://github.com/kynan/nbstripout
+    rev: 0.8.1
+    hooks:
+      - id: nbstripout

jaxsim-0.8.2.dev32/.readthedocs.yaml

@@ -0,0 +1,19 @@
+version: "2"
+
+build:
+  os: ubuntu-24.04
+  tools:
+    python: "mambaforge-23.11"
+
+conda:
+  environment: environment.yml
+
+python:
+  install:
+    - method: pip
+      path: .
+
+sphinx:
+  configuration: docs/conf.py
+
+formats: all