SYMBOL INDEX (670 symbols across 75 files) FILE: src/jaxsim/__init__.py function _jnp_options (line 6) | def _jnp_options() -> None: function _np_options (line 44) | def _np_options() -> None: function _is_editable (line 50) | def _is_editable() -> bool: function _get_default_logging_level (line 70) | def _get_default_logging_level() -> logging.LoggingLevel: FILE: src/jaxsim/api/actuation_model.py function compute_resultant_torques (line 7) | def compute_resultant_torques( function tn_curve_fn (line 101) | def tn_curve_fn( FILE: src/jaxsim/api/com.py function com_position (line 13) | def com_position( function com_linear_velocity (line 50) | def com_linear_velocity( function centroidal_momentum (line 81) | def centroidal_momentum( function centroidal_momentum_jacobian (line 109) | def centroidal_momentum_jacobian( function locked_centroidal_spatial_inertia (line 158) | def locked_centroidal_spatial_inertia( function average_centroidal_velocity (line 196) | def average_centroidal_velocity( function average_centroidal_velocity_jacobian (line 224) | def average_centroidal_velocity_jacobian( function bias_acceleration (line 251) | def bias_acceleration( FILE: src/jaxsim/api/common.py function named_scope (line 28) | def named_scope(fn, name: str | None = None) -> Callable[_P, _R]: class VelRepr (line 40) | class VelRepr(enum.IntEnum): class ModelDataWithVelocityRepresentation (line 51) | class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC): method switch_velocity_representation (line 61) | def switch_velocity_representation( method inertial_to_other_representation (line 102) | def inertial_to_other_representation( method other_representation_to_inertial (line 162) | def other_representation_to_inertial( FILE: src/jaxsim/api/contact.py function collidable_point_kinematics (line 20) | def collidable_point_kinematics( function collidable_point_positions (line 50) | def collidable_point_positions( function collidable_point_velocities (line 71) | def collidable_point_velocities( function in_contact (line 92) | def in_contact( function estimate_good_soft_contacts_parameters (line 148) | def estimate_good_soft_contacts_parameters( function estimate_good_contact_parameters (line 160) | def estimate_good_contact_parameters( function transforms (line 216) | def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelDat... function jacobian (line 260) | def jacobian( function jacobian_derivative (line 353) | def jacobian_derivative( function link_contact_forces (line 516) | def link_contact_forces( function link_forces_from_contact_forces (line 557) | def link_forces_from_contact_forces( FILE: src/jaxsim/api/data.py class JaxSimModelData (line 27) | class JaxSimModelData(common.ModelDataWithVelocityRepresentation): method build (line 66) | def build( method zero (line 206) | def zero( method joint_positions (line 229) | def joint_positions(self) -> jtp.Vector: method joint_velocities (line 239) | def joint_velocities(self) -> jtp.Vector: method base_quaternion (line 249) | def base_quaternion(self) -> jtp.Vector: method base_position (line 259) | def base_position(self) -> jtp.Vector: method base_orientation (line 269) | def base_orientation(self) -> jtp.Matrix: method base_velocity (line 290) | def base_velocity(self) -> jtp.Vector: method generalized_position (line 316) | def generalized_position(self) -> tuple[jtp.Matrix, jtp.Vector]: method generalized_velocity (line 328) | def generalized_velocity(self) -> jtp.Vector: method base_transform (line 345) | def base_transform(self) -> jtp.Matrix: method reset_base_quaternion (line 360) | def reset_base_quaternion( method reset_base_pose (line 383) | def reset_base_pose( method replace (line 407) | def replace( method valid (line 527) | def valid(self, model: js.model.JaxSimModel) -> bool: function random_model_data (line 555) | def random_model_data( FILE: src/jaxsim/api/frame.py function idx_of_parent_link (line 21) | def idx_of_parent_link( function name_to_idx (line 51) | def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.... function idx_to_name (line 76) | def idx_to_name(model: js.model.JaxSimModel, *, frame_index: jtp.IntLike... function names_to_idxs (line 104) | def names_to_idxs( function idxs_to_names (line 123) | def idxs_to_names( function transform (line 147) | def transform( function velocity (line 189) | def velocity( function jacobian (line 240) | def jacobian( function jacobian_derivative (line 330) | def jacobian_derivative( FILE: src/jaxsim/api/integrators.py function semi_implicit_euler_integration (line 14) | def semi_implicit_euler_integration( function rk4_integration (line 90) | def rk4_integration( function rk4fast_integration (line 158) | def rk4fast_integration( FILE: src/jaxsim/api/joint.py function name_to_idx (line 18) | def name_to_idx(model: js.model.JaxSimModel, *, joint_name: str) -> jtp.... function idx_to_name (line 44) | def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike... function names_to_idxs (line 67) | def names_to_idxs( function idxs_to_names (line 86) | def idxs_to_names( function position_limit (line 111) | def position_limit( function position_limits (line 148) | def position_limits( function random_joint_positions (line 184) | def random_joint_positions( FILE: src/jaxsim/api/kin_dyn_parameters.py class KinDynParameters (line 23) | class KinDynParameters(JaxsimDataclass): method motion_subspaces (line 74) | def motion_subspaces(self) -> jtp.Matrix: method parent_array (line 81) | def parent_array(self) -> jtp.Vector: method support_body_array_bool (line 88) | def support_body_array_bool(self) -> jtp.Matrix: method level_nodes (line 95) | def level_nodes(self) -> jtp.Matrix: method level_mask (line 104) | def level_mask(self) -> jtp.Matrix: method _compute_tree_levels (line 112) | def _compute_tree_levels( method build (line 159) | def build( method __eq__ (line 367) | def __eq__(self, other: KinDynParameters) -> bool: method __hash__ (line 373) | def __hash__(self) -> int: method number_of_links (line 389) | def number_of_links(self) -> int: method number_of_joints (line 399) | def number_of_joints(self) -> int: method number_of_frames (line 409) | def number_of_frames(self) -> int: method support_body_array (line 419) | def support_body_array(self, link_index: jtp.IntLike) -> jtp.Vector: method links_spatial_inertia (line 443) | def links_spatial_inertia(self) -> jtp.Array: method tree_transforms (line 454) | def tree_transforms(self) -> jtp.Array: method joint_transforms (line 478) | def joint_transforms( method set_link_mass (line 538) | def set_link_mass( method set_link_inertia (line 558) | def set_link_inertia( class JointParameters (line 584) | class JointParameters(JaxsimDataclass): method build_from_joint_description (line 614) | def build_from_joint_description( class LinkParameters (line 656) | class LinkParameters(JaxsimDataclass): method build_from_spatial_inertia (line 682) | def build_from_spatial_inertia(index: jtp.IntLike, M: jtp.Matrix) -> L... method build_from_inertial_parameters (line 708) | def build_from_inertial_parameters( method build_from_flat_parameters (line 735) | def build_from_flat_parameters( method flat_parameters (line 759) | def flat_parameters(params: LinkParameters) -> jtp.Vector: method inertia_tensor (line 783) | def inertia_tensor(params: LinkParameters) -> jtp.Matrix: method spatial_inertia (line 799) | def spatial_inertia(params: LinkParameters) -> jtp.Matrix: method flatten_inertia_tensor (line 817) | def flatten_inertia_tensor(I: jtp.Matrix) -> jtp.Vector: method unflatten_inertia_tensor (line 831) | def unflatten_inertia_tensor(inertia_elements: jtp.Vector) -> jtp.Matrix: class ContactParameters (line 847) | class ContactParameters(JaxsimDataclass): method indices_of_enabled_collidable_points (line 874) | def indices_of_enabled_collidable_points(self) -> npt.NDArray: method build_from (line 881) | def build_from(model_description: ModelDescription) -> ContactParameters: class FrameParameters (line 925) | class FrameParameters(JaxsimDataclass): method build_from (line 948) | def build_from(model_description: ModelDescription) -> FrameParameters: class LinkParametrizableShape (line 990) | class LinkParametrizableShape: class HwLinkMetadata (line 1003) | class HwLinkMetadata(JaxsimDataclass): method empty (line 1042) | def empty(cls) -> HwLinkMetadata: method compute_mesh_inertia (line 1060) | def compute_mesh_inertia( method precompute_mesh_moments (line 1132) | def precompute_mesh_moments(vertices: np.ndarray, faces: np.ndarray) -... method compute_mesh_inertia_from_moments (line 1178) | def compute_mesh_inertia_from_moments( method compute_mass_and_inertia (line 1222) | def compute_mass_and_inertia( method _convert_scaling_to_3d_vector (line 1311) | def _convert_scaling_to_3d_vector( method compute_contact_points (line 1353) | def compute_contact_points( method compute_inertia_link (line 1427) | def compute_inertia_link(I_com, L_H_G) -> jtp.Matrix: method apply_scaling (line 1436) | def apply_scaling( class ScalingFactors (line 1529) | class ScalingFactors(JaxsimDataclass): class ConstraintType (line 1543) | class ConstraintType: class ConstraintMap (line 1554) | class ConstraintMap(JaxsimDataclass): method add_constraint (line 1582) | def add_constraint( FILE: src/jaxsim/api/link.py function name_to_idx (line 23) | def name_to_idx(model: js.model.JaxSimModel, *, link_name: str) -> jtp.Int: function idx_to_name (line 45) | def idx_to_name(model: js.model.JaxSimModel, *, link_index: jtp.IntLike)... function names_to_idxs (line 67) | def names_to_idxs( function idxs_to_names (line 86) | def idxs_to_names( function mass (line 109) | def mass(model: js.model.JaxSimModel, *, link_index: jtp.IntLike) -> jtp... function spatial_inertia (line 133) | def spatial_inertia( function transform (line 164) | def transform( function com_position (line 194) | def com_position( function jacobian (line 238) | def jacobian( function velocity (line 338) | def velocity( function jacobian_derivative (line 388) | def jacobian_derivative( function bias_acceleration (line 433) | def bias_acceleration( FILE: src/jaxsim/api/model.py class IntegratorType (line 39) | class IntegratorType(enum.IntEnum): class JaxSimModel (line 48) | class JaxSimModel(JaxsimDataclass): method description (line 94) | def description(self) -> ModelDescription: method __eq__ (line 100) | def __eq__(self, other: JaxSimModel) -> bool: method __hash__ (line 115) | def __hash__(self) -> int: method build_from_model_description (line 130) | def build_from_model_description( method build (line 227) | def build( method compute_hw_link_metadata (line 333) | def compute_hw_link_metadata( method export_updated_model (line 631) | def export_updated_model(self) -> str: method name (line 951) | def name(self) -> str: method number_of_links (line 961) | def number_of_links(self) -> int: method number_of_joints (line 974) | def number_of_joints(self) -> int: method number_of_frames (line 984) | def number_of_frames(self) -> int: method floating_base (line 999) | def floating_base(self) -> bool: method base_link (line 1009) | def base_link(self) -> str: method dofs (line 1026) | def dofs(self) -> int: method joint_names (line 1040) | def joint_names(self) -> tuple[str, ...]: method link_names (line 1054) | def link_names(self) -> tuple[str, ...]: method frame_names (line 1068) | def frame_names(self) -> tuple[str, ...]: function reduce (line 1084) | def reduce( function total_mass (line 1165) | def total_mass(model: JaxSimModel) -> jtp.Float: function link_spatial_inertia_matrices (line 1181) | def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array: function _adjoint_from_rotation_translation (line 1202) | def _adjoint_from_rotation_translation( function _inverse_adjoint_from_rotation_translation (line 1217) | def _inverse_adjoint_from_rotation_translation( function _apply_input_representation_to_jacobian (line 1233) | def _apply_input_representation_to_jacobian( function _apply_input_representation_derivative_to_jacobian (line 1245) | def _apply_input_representation_derivative_to_jacobian( function _link_jacobian_support_mask (line 1260) | def _link_jacobian_support_mask( function _body_input_transform (line 1275) | def _body_input_transform( function _link_output_adjoint_from_body (line 1309) | def _link_output_adjoint_from_body( function generalized_free_floating_jacobian (line 1346) | def generalized_free_floating_jacobian( function generalized_free_floating_jacobian_derivative (line 1400) | def generalized_free_floating_jacobian_derivative( function forward_dynamics (line 1506) | def forward_dynamics( function forward_dynamics_aba (line 1545) | def forward_dynamics_aba( function forward_dynamics_crb (line 1696) | def forward_dynamics_crb( function forward_kinematics (line 1788) | def forward_kinematics( function _transform_M_block (line 1835) | def _transform_M_block(M_body: jtp.Matrix, X: jtp.Matrix) -> jtp.Matrix: function free_floating_mass_matrix (line 1864) | def free_floating_mass_matrix( function free_floating_mass_matrix_inverse (line 1903) | def free_floating_mass_matrix_inverse( function free_floating_coriolis_matrix (line 1940) | def free_floating_coriolis_matrix( function inverse_dynamics (line 2054) | def inverse_dynamics( function free_floating_gravity_forces (line 2206) | def free_floating_gravity_forces( function free_floating_bias_forces (line 2243) | def free_floating_bias_forces( function locked_spatial_inertia (line 2295) | def locked_spatial_inertia( function total_momentum (line 2314) | def total_momentum(model: JaxSimModel, data: js.data.JaxSimModelData) ->... function total_momentum_jacobian (line 2333) | def total_momentum_jacobian( function average_velocity (line 2401) | def average_velocity(model: JaxSimModel, data: js.data.JaxSimModelData) ... function average_velocity_jacobian (line 2421) | def average_velocity_jacobian( function link_bias_accelerations (line 2486) | def link_bias_accelerations( function joint_transforms (line 2697) | def joint_transforms( function mechanical_energy (line 2727) | def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData)... function kinetic_energy (line 2747) | def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) ->... function potential_energy (line 2769) | def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) ... function update_hw_parameters (line 2793) | def update_hw_parameters( function step (line 3039) | def step( FILE: src/jaxsim/api/ode.py function system_acceleration (line 16) | def system_acceleration( function system_position_dynamics (line 136) | def system_position_dynamics( function system_dynamics (line 176) | def system_dynamics( FILE: src/jaxsim/api/references.py class JaxSimModelReferences (line 23) | class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation): method zero (line 36) | def zero( method build (line 60) | def build( method valid (line 134) | def valid(self, model: js.model.JaxSimModel | None = None) -> bool: method link_forces (line 168) | def link_forces( method joint_force_references (line 250) | def joint_force_references( method set_joint_force_references (line 306) | def set_joint_force_references( method apply_link_forces (line 351) | def apply_link_forces( method apply_frame_forces (line 451) | def apply_frame_forces( FILE: src/jaxsim/exceptions.py function raise_if (line 6) | def raise_if( function raise_runtime_error_if (line 63) | def raise_runtime_error_if( function raise_value_error_if (line 73) | def raise_value_error_if( FILE: src/jaxsim/logging.py class JaxSimWarning (line 10) | class JaxSimWarning(UserWarning): function pretty_jaxsim_warning (line 18) | def pretty_jaxsim_warning(message, category, filename, lineno, file=None... function jaxsim_warn (line 39) | def jaxsim_warn(msg): class LoggingLevel (line 46) | class LoggingLevel(enum.IntEnum): function _logger (line 55) | def _logger() -> logging.Logger: function set_logging_level (line 59) | def set_logging_level(level: int | LoggingLevel = LoggingLevel.WARNING): function get_logging_level (line 66) | def get_logging_level() -> LoggingLevel: function configure (line 71) | def configure(level: LoggingLevel = LoggingLevel.WARNING) -> None: function debug (line 86) | def debug(msg: str = "") -> None: function info (line 90) | def info(msg: str = "") -> None: function warning (line 94) | def warning(msg: str = "") -> None: function error (line 98) | def error(msg: str = "") -> None: function critical (line 102) | def critical(msg: str = "") -> None: function exception (line 106) | def exception(msg: str = "") -> None: FILE: src/jaxsim/math/adjoint.py class Adjoint (line 9) | class Adjoint: method from_quaternion_and_translation (line 15) | def from_quaternion_and_translation( method from_transform (line 46) | def from_transform(transform: jtp.MatrixLike, inverse: bool = False) -... method from_rotation_and_translation (line 67) | def from_rotation_and_translation( method to_transform (line 110) | def to_transform(adjoint: jtp.Matrix) -> jtp.Matrix: method inverse (line 136) | def inverse(adjoint: jtp.Matrix) -> jtp.Matrix: FILE: src/jaxsim/math/cross.py class Cross (line 8) | class Cross: method vx (line 14) | def vx(velocity_sixd: jtp.Vector) -> jtp.Matrix: method vx_star (line 44) | def vx_star(velocity_sixd: jtp.Vector) -> jtp.Matrix: FILE: src/jaxsim/math/inertia.py class Inertia (line 8) | class Inertia: method to_sixd (line 14) | def to_sixd(mass: jtp.Float, com: jtp.Vector, I: jtp.Matrix) -> jtp.Ma... method to_params (line 44) | def to_params(M: jtp.Matrix) -> tuple[jtp.Float, jtp.Vector, jtp.Matrix]: FILE: src/jaxsim/math/joint_model.py class JointModel (line 17) | class JointModel(JaxsimDataclass): method build (line 46) | def build(description: ModelDescription) -> JointModel: method parent_H_predecessor (line 115) | def parent_H_predecessor(self, joint_index: jtp.IntLike) -> jtp.Matrix: method successor_H_child (line 130) | def successor_H_child(self, joint_index: jtp.IntLike) -> jtp.Matrix: function supported_joint_motion (line 147) | def supported_joint_motion( FILE: src/jaxsim/math/quaternion.py class Quaternion (line 10) | class Quaternion: method to_xyzw (line 16) | def to_xyzw(wxyz: jtp.Vector) -> jtp.Vector: method to_wxyz (line 29) | def to_wxyz(xyzw: jtp.Vector) -> jtp.Vector: method to_dcm (line 42) | def to_dcm(quaternion: jtp.Vector) -> jtp.Matrix: method from_dcm (line 55) | def from_dcm(dcm: jtp.Matrix) -> jtp.Vector: method derivative (line 68) | def derivative( method integration (line 135) | def integration( FILE: src/jaxsim/math/rotation.py class Rotation (line 10) | class Rotation: method x (line 16) | def x(theta: jtp.Float) -> jtp.Matrix: method y (line 30) | def y(theta: jtp.Float) -> jtp.Matrix: method z (line 44) | def z(theta: jtp.Float) -> jtp.Matrix: method from_axis_angle (line 58) | def from_axis_angle(vector: jtp.Vector) -> jtp.Matrix: method log_vee (line 87) | def log_vee(R: jnp.ndarray) -> jtp.Vector: FILE: src/jaxsim/math/skew.py class Skew (line 6) | class Skew: method wedge (line 12) | def wedge(vector: jtp.Vector) -> jtp.Matrix: method vee (line 40) | def vee(matrix: jtp.Matrix) -> jtp.Vector: FILE: src/jaxsim/math/transform.py class Transform (line 7) | class Transform: method from_quaternion_and_translation (line 13) | def from_quaternion_and_translation( method from_rotation_and_translation (line 52) | def from_rotation_and_translation( method inverse (line 84) | def inverse(transform: jtp.MatrixLike) -> jtp.Matrix: FILE: src/jaxsim/math/utils.py function _make_safe_norm (line 7) | def _make_safe_norm(axis, keepdims): function safe_norm (line 45) | def safe_norm(array: jtp.ArrayLike, *, axis=None, keepdims: bool = False... FILE: src/jaxsim/mujoco/loaders.py function load_rod_model (line 22) | def load_rod_model( class ModelToMjcf (line 67) | class ModelToMjcf: method convert (line 73) | def convert( class RodModelToMjcf (line 120) | class RodModelToMjcf: method assets_from_rod_model (line 126) | def assets_from_rod_model( method add_floating_joint (line 167) | def add_floating_joint( method convert (line 223) | def convert( class UrdfToMjcf (line 613) | class UrdfToMjcf: method convert (line 619) | def convert( class SdfToMjcf (line 661) | class SdfToMjcf: method convert (line 667) | def convert( FILE: src/jaxsim/mujoco/model.py class MujocoModelHelper (line 19) | class MujocoModelHelper: method __init__ (line 24) | def __init__(self, model: mj.MjModel, data: mj.MjData | None = None) -... method build_from_xml (line 43) | def build_from_xml( method time (line 138) | def time(self) -> float: method timestep (line 143) | def timestep(self) -> float: method gravity (line 148) | def gravity(self) -> npt.NDArray: method is_floating_base (line 157) | def is_floating_base(self) -> bool: method is_fixed_base (line 169) | def is_fixed_base(self) -> bool: method base_link (line 174) | def base_link(self) -> str: method base_position (line 181) | def base_position(self) -> npt.NDArray: method base_orientation (line 190) | def base_orientation(self, dcm: bool = False) -> npt.NDArray: method set_base_position (line 203) | def set_base_position(self, position: npt.NDArray) -> None: method set_base_orientation (line 216) | def set_base_orientation(self, orientation: npt.NDArray, dcm: bool = F... method number_of_joints (line 256) | def number_of_joints(self) -> int: method number_of_dofs (line 261) | def number_of_dofs(self) -> int: method joint_names (line 266) | def joint_names(self) -> list[str]: method joint_dofs (line 274) | def joint_dofs(self, joint_name: str) -> int: method joint_position (line 282) | def joint_position(self, joint_name: str) -> npt.NDArray: method joint_positions (line 290) | def joint_positions(self, joint_names: list[str] | None = None) -> npt... method set_joint_position (line 299) | def set_joint_position( method set_joint_positions (line 318) | def set_joint_positions( method number_of_bodies (line 330) | def number_of_bodies(self) -> int: method body_names (line 335) | def body_names(self) -> list[str]: method body_position (line 343) | def body_position(self, body_name: str) -> npt.NDArray: method body_orientation (line 351) | def body_orientation(self, body_name: str, dcm: bool = False) -> npt.N... method number_of_geometries (line 365) | def number_of_geometries(self) -> int: method geometry_names (line 370) | def geometry_names(self) -> list[str]: method geometry_position (line 378) | def geometry_position(self, geometry_name: str) -> npt.NDArray: method geometry_orientation (line 386) | def geometry_orientation( method _mask_qpos (line 406) | def _mask_qpos(self, joint_names: tuple[str, ...]) -> npt.NDArray: function generate_hfield (line 447) | def generate_hfield( FILE: src/jaxsim/mujoco/utils.py function mujoco_data_from_jaxsim (line 14) | def mujoco_data_from_jaxsim( class MujocoCamera (line 108) | class MujocoCamera: method build (line 131) | def build(cls, **kwargs) -> MujocoCamera: method build_from_target_view (line 142) | def build_from_target_view( method asdict (line 227) | def asdict(self) -> dict[str, str]: FILE: src/jaxsim/mujoco/visualizer.py class MujocoVideoRecorder (line 13) | class MujocoVideoRecorder: method __init__ (line 18) | def __init__( method visualize_frame (line 68) | def visualize_frame( method reset (line 152) | def reset( method render_frame (line 172) | def render_frame( method record_frame (line 212) | def record_frame( method write_video (line 222) | def write_video(self, path: pathlib.Path | str, exist_ok: bool = False... method compute_down_sampling (line 237) | def compute_down_sampling(original_fps: int, target_min_fps: int) -> int: class MujocoVisualizer (line 261) | class MujocoVisualizer: method __init__ (line 266) | def __init__( method sync (line 280) | def sync( method open_viewer (line 294) | def open_viewer( method open (line 312) | def open( method setup_viewer_camera (line 348) | def setup_viewer_camera( FILE: src/jaxsim/parsers/descriptions/collision.py class CollidablePoint (line 17) | class CollidablePoint: method change_link (line 31) | def change_link( method __hash__ (line 54) | def __hash__(self) -> int: method __eq__ (line 64) | def __eq__(self, other: CollidablePoint) -> bool: method __str__ (line 71) | def __str__(self) -> str: class CollisionShape (line 82) | class CollisionShape(abc.ABC): method __str__ (line 92) | def __str__(self): class BoxCollision (line 102) | class BoxCollision(CollisionShape): method __hash__ (line 112) | def __hash__(self) -> int: method __eq__ (line 120) | def __eq__(self, other: BoxCollision) -> bool: class SphereCollision (line 129) | class SphereCollision(CollisionShape): method __hash__ (line 139) | def __hash__(self) -> int: method __eq__ (line 147) | def __eq__(self, other: BoxCollision) -> bool: class MeshCollision (line 156) | class MeshCollision(CollisionShape): method __hash__ (line 166) | def __hash__(self) -> int: method __eq__ (line 174) | def __eq__(self, other: MeshCollision) -> bool: FILE: src/jaxsim/parsers/descriptions/joint.py class JointType (line 16) | class JointType: class JointGenericAxis (line 27) | class JointGenericAxis: method __hash__ (line 35) | def __hash__(self) -> int: method __eq__ (line 39) | def __eq__(self, other: JointGenericAxis) -> bool: class JointDescription (line 48) | class JointDescription(JaxsimDataclass): method __post_init__ (line 90) | def __post_init__(self) -> None: method __eq__ (line 100) | def __eq__(self, other: JointDescription) -> bool: method __hash__ (line 107) | def __hash__(self) -> int: FILE: src/jaxsim/parsers/descriptions/link.py class LinkDescription (line 16) | class LinkDescription(JaxsimDataclass): method __hash__ (line 41) | def __hash__(self) -> int: method __eq__ (line 57) | def __eq__(self, other: LinkDescription) -> bool: method name_and_index (line 76) | def name_and_index(self) -> str: method lump_with (line 86) | def lump_with( FILE: src/jaxsim/parsers/descriptions/model.py class ModelDescription (line 17) | class ModelDescription(KinematicGraph): method build_model_from (line 36) | def build_model_from( method reduce (line 157) | def reduce(self, considered_joints: Sequence[str]) -> ModelDescription: method update_collision_shape_of_link (line 197) | def update_collision_shape_of_link(self, link_name: str, enabled: bool... method collision_shape_of_link (line 214) | def collision_shape_of_link(self, link_name: str) -> CollisionShape: method all_enabled_collidable_points (line 237) | def all_enabled_collidable_points(self) -> list[CollidablePoint]: method __eq__ (line 254) | def __eq__(self, other: ModelDescription) -> bool: method __hash__ (line 271) | def __hash__(self) -> int: FILE: src/jaxsim/parsers/kinematic_graph.py class RootPose (line 21) | class RootPose: method __hash__ (line 40) | def __hash__(self) -> int: method __eq__ (line 51) | def __eq__(self, other: RootPose) -> bool: class KinematicGraph (line 66) | class KinematicGraph(Sequence[LinkDescription]): method links_dict (line 99) | def links_dict(self) -> dict[str, LinkDescription]: method frames_dict (line 106) | def frames_dict(self) -> dict[str, LinkDescription]: method joints_dict (line 113) | def joints_dict(self) -> dict[str, JointDescription]: method joints_connection_dict (line 120) | def joints_connection_dict( method __post_init__ (line 128) | def __post_init__(self) -> None: method build_from (line 174) | def build_from( method _create_graph (line 234) | def _create_graph( method reduce (line 379) | def reduce(self, considered_joints: Sequence[str]) -> KinematicGraph: method link_names (line 613) | def link_names(self) -> list[str]: method joint_names (line 622) | def joint_names(self) -> list[str]: method frame_names (line 631) | def frame_names(self) -> list[str]: method print_tree (line 641) | def print_tree(self) -> None: method joints_removed (line 658) | def joints_removed(self) -> list[JointDescription]: method breadth_first_search (line 669) | def breadth_first_search( method __iter__ (line 715) | def __iter__(self) -> Iterator[LinkDescription]: method __reversed__ (line 718) | def __reversed__(self) -> Iterable[LinkDescription]: method __len__ (line 721) | def __len__(self) -> int: method __contains__ (line 724) | def __contains__(self, item: str | LinkDescription) -> bool: method __getitem__ (line 733) | def __getitem__(self, key: int | str) -> LinkDescription: method count (line 748) | def count(self, value: LinkDescription) -> int: method index (line 754) | def index(self, value: LinkDescription, start: int = 0, stop: int = -1... class KinematicGraphTransforms (line 767) | class KinematicGraphTransforms: method __post_init__ (line 785) | def __post_init__(self) -> None: method initial_joint_positions (line 793) | def initial_joint_positions(self) -> npt.NDArray: method initial_joint_positions (line 803) | def initial_joint_positions( method transform (line 831) | def transform(self, name: str) -> npt.NDArray: method relative_transform (line 913) | def relative_transform(self, relative_to: str, name: str) -> npt.NDArray: method pre_H_suc (line 935) | def pre_H_suc( method find_parent_link_of_frame (line 958) | def find_parent_link_of_frame(self, name: str) -> str: FILE: src/jaxsim/parsers/rod/meshes.py function extract_points_vertices (line 7) | def extract_points_vertices(mesh: trimesh.Trimesh) -> np.ndarray: function extract_points_random_surface_sampling (line 14) | def extract_points_random_surface_sampling(mesh: trimesh.Trimesh, n) -> ... function extract_points_uniform_surface_sampling (line 29) | def extract_points_uniform_surface_sampling( function extract_points_select_points_over_axis (line 46) | def extract_points_select_points_over_axis( function extract_points_aap (line 71) | def extract_points_aap( FILE: src/jaxsim/parsers/rod/parser.py class SDFData (line 17) | class SDFData(NamedTuple): function extract_model_data (line 36) | def extract_model_data( function build_model_description (line 372) | def build_model_description( FILE: src/jaxsim/parsers/rod/utils.py function from_sdf_inertial (line 21) | def from_sdf_inertial(inertial: rod.Inertial) -> jtp.Matrix: function joint_to_joint_type (line 69) | def joint_to_joint_type(joint: rod.Joint) -> int: function create_box_collision (line 102) | def create_box_collision( function create_sphere_collision (line 158) | def create_sphere_collision( function create_mesh_collision (line 228) | def create_mesh_collision( function prepare_mesh_for_parametrization (line 283) | def prepare_mesh_for_parametrization( FILE: src/jaxsim/rbda/aba.py function aba (line 12) | def aba( FILE: src/jaxsim/rbda/aba_parallel.py function aba_parallel (line 14) | def aba_parallel( FILE: src/jaxsim/rbda/actuation/common.py class ActuationParams (line 11) | class ActuationParams(JaxsimDataclass): FILE: src/jaxsim/rbda/collidable_points.py function collidable_points_pos_vel (line 9) | def collidable_points_pos_vel( FILE: src/jaxsim/rbda/contacts/common.py function compute_penetration_data (line 26) | def compute_penetration_data( class ContactsParams (line 66) | class ContactsParams(JaxsimDataclass): method build (line 79) | def build(cls: type[Self], **kwargs) -> Self: method build_default_from_jaxsim_model (line 88) | def build_default_from_jaxsim_model( method valid (line 171) | def valid(self, **kwargs) -> jtp.BoolLike: class ContactModel (line 181) | class ContactModel(JaxsimDataclass): method build (line 188) | def build( method compute_contact_forces (line 202) | def compute_contact_forces( method zero_state_variables (line 225) | def zero_state_variables(cls, model: js.model.JaxSimModel) -> dict[str... method _parameters_class (line 246) | def _parameters_class(self) -> type[ContactsParams]: method update_contact_state (line 265) | def update_contact_state( method update_velocity_after_impact (line 279) | def update_velocity_after_impact( FILE: src/jaxsim/rbda/contacts/relaxed_rigid.py class RelaxedRigidContactsParams (line 32) | class RelaxedRigidContactsParams(common.ContactsParams): method __hash__ (line 85) | def __hash__(self) -> int: method __eq__ (line 103) | def __eq__(self, other: RelaxedRigidContactsParams) -> bool: method build (line 110) | def build( method valid (line 170) | def valid(self) -> jtp.BoolLike: class RelaxedRigidContacts (line 187) | class RelaxedRigidContacts(common.ContactModel): method solver_options (line 198) | def solver_options(self) -> dict[str, Any]: method build (line 210) | def build( method update_contact_state (line 252) | def update_contact_state( method update_velocity_after_impact (line 267) | def update_velocity_after_impact( method compute_contact_forces (line 284) | def compute_contact_forces( method _regularizers (line 526) | def _regularizers( FILE: src/jaxsim/rbda/contacts/rigid.py class RigidContactsParams (line 26) | class RigidContactsParams(ContactsParams): method __hash__ (line 44) | def __hash__(self) -> int: method __eq__ (line 55) | def __eq__(self, other: RigidContactsParams) -> bool: method build (line 62) | def build( method valid (line 86) | def valid(self) -> jtp.BoolLike: class RigidContacts (line 96) | class RigidContacts(ContactModel): method solver_options (line 111) | def solver_options(self) -> dict[str, Any]: method build (line 123) | def build( method compute_impact_velocity (line 177) | def compute_impact_velocity( method compute_contact_forces (line 224) | def compute_contact_forces( method update_velocity_after_impact (line 383) | def update_velocity_after_impact( method update_contact_state (line 445) | def update_contact_state( function _delassus_matrix (line 462) | def _delassus_matrix( function _compute_ineq_constraint_matrix (line 476) | def _compute_ineq_constraint_matrix( function _linear_acceleration_of_collidable_points (line 505) | def _linear_acceleration_of_collidable_points( function _compute_baumgarte_stabilization_term (line 526) | def _compute_baumgarte_stabilization_term( FILE: src/jaxsim/rbda/contacts/soft.py class SoftContactsParams (line 25) | class SoftContactsParams(common.ContactsParams): method __hash__ (line 48) | def __hash__(self) -> int: method __eq__ (line 62) | def __eq__(self, other: SoftContactsParams) -> bool: method build (line 70) | def build( method valid (line 107) | def valid(self) -> jtp.BoolLike: class SoftContacts (line 127) | class SoftContacts(common.ContactModel): method build (line 131) | def build( method zero_state_variables (line 151) | def zero_state_variables(cls, model: js.model.JaxSimModel) -> dict[str... method update_contact_state (line 164) | def update_contact_state( method update_velocity_after_impact (line 179) | def update_velocity_after_impact( method hunt_crossley_contact_model (line 197) | def hunt_crossley_contact_model( method compute_contact_force (line 343) | def compute_contact_force( method compute_contact_forces (line 392) | def compute_contact_forces( FILE: src/jaxsim/rbda/crba.py function crba (line 10) | def crba( FILE: src/jaxsim/rbda/forward_kinematics.py function forward_kinematics_model (line 11) | def forward_kinematics_model( FILE: src/jaxsim/rbda/forward_kinematics_parallel.py function forward_kinematics_model_parallel (line 13) | def forward_kinematics_model_parallel( FILE: src/jaxsim/rbda/jacobian.py function jacobian (line 12) | def jacobian( function jacobian_full_doubly_left (line 129) | def jacobian_full_doubly_left( function jacobian_derivative_full_doubly_left (line 222) | def jacobian_derivative_full_doubly_left( FILE: src/jaxsim/rbda/kinematic_constraints.py function _compute_constraint_transforms_batched (line 19) | def _compute_constraint_transforms_batched( function _compute_constraint_jacobians_batched (line 60) | def _compute_constraint_jacobians_batched( function _compute_constraint_baumgarte_term (line 125) | def _compute_constraint_baumgarte_term( function compute_constraint_wrenches (line 174) | def compute_constraint_wrenches( FILE: src/jaxsim/rbda/mass_inverse.py function mass_inverse (line 8) | def mass_inverse( FILE: src/jaxsim/rbda/rnea.py function rnea (line 12) | def rnea( FILE: src/jaxsim/rbda/utils.py function process_inputs (line 9) | def process_inputs( FILE: src/jaxsim/terrain/terrain.py class Terrain (line 15) | class Terrain(abc.ABC): method height (line 26) | def height(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Float: method normal (line 40) | def normal(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Vector: class FlatTerrain (line 66) | class FlatTerrain(Terrain): method build (line 74) | def build(height: jtp.FloatLike = 0.0) -> FlatTerrain: method height (line 87) | def height(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Float: method normal (line 101) | def normal(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Vector: method __hash__ (line 115) | def __hash__(self) -> int: method __eq__ (line 119) | def __eq__(self, other: FlatTerrain) -> bool: class PlaneTerrain (line 128) | class PlaneTerrain(FlatTerrain): method build (line 138) | def build(height: jtp.FloatLike = 0.0, *, normal: jtp.VectorLike) -> P... method normal (line 165) | def normal( method height (line 181) | def height(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Float: method __hash__ (line 211) | def __hash__(self) -> int: method __eq__ (line 224) | def __eq__(self, other: PlaneTerrain) -> bool: FILE: src/jaxsim/utils/jaxsim_dataclass.py class JaxsimDataclass (line 22) | class JaxsimDataclass(abc.ABC): method editable (line 29) | def editable(self: Self, validate: bool = True) -> Iterator[Self]: method mutable_context (line 52) | def mutable_context( method get_leaf_shapes (line 125) | def get_leaf_shapes(tree: jtp.PyTree) -> tuple[tuple[int, ...] | None]: method get_leaf_dtypes (line 145) | def get_leaf_dtypes(tree: jtp.PyTree) -> tuple: method get_leaf_weak_types (line 165) | def get_leaf_weak_types(tree: jtp.PyTree) -> tuple[bool, ...]: method check_compatibility (line 184) | def check_compatibility(*trees: Sequence[Any]) -> None: method is_mutable (line 235) | def is_mutable(self, validate: bool = False) -> bool: method mutability (line 252) | def mutability(self) -> Mutability: method set_mutability (line 262) | def set_mutability(self, mutability: Mutability) -> None: method mutable (line 274) | def mutable(self: Self, mutable: bool = True, validate: bool = False) ... method copy (line 296) | def copy(self: Self) -> Self: method replace (line 313) | def replace(self: Self, validate: bool = True, **kwargs) -> Self: method flatten (line 336) | def flatten(self) -> jtp.Vector: method flatten_fn (line 347) | def flatten_fn(cls: type[Self]) -> Callable[[Self], jtp.Vector]: method unflatten_fn (line 357) | def unflatten_fn(self: Self) -> Callable[[jtp.Vector], Self]: FILE: src/jaxsim/utils/tracing.py function tracing (line 8) | def tracing(var: Any) -> bool | jax.Array: function not_tracing (line 16) | def not_tracing(var: Any) -> bool | jax.Array: FILE: src/jaxsim/utils/wrappers.py class HashlessObject (line 16) | class HashlessObject(Generic[T]): method get (line 27) | def get(self: HashlessObject[T]) -> T: method __hash__ (line 33) | def __hash__(self) -> int: method __eq__ (line 37) | def __eq__(self, other: HashlessObject[T]) -> bool: class CustomHashedObject (line 48) | class CustomHashedObject(Generic[T]): method get (line 57) | def get(self: CustomHashedObject[T]) -> T: method __hash__ (line 63) | def __hash__(self) -> int: method __eq__ (line 67) | def __eq__(self, other: CustomHashedObject[T]) -> bool: class HashedNumpyArray (line 78) | class HashedNumpyArray: method get (line 101) | def get(self) -> jax.Array | npt.NDArray: method __hash__ (line 107) | def __hash__(self) -> int: method __eq__ (line 113) | def __eq__(self, other: HashedNumpyArray) -> bool: method hash_of_array (line 128) | def hash_of_array( FILE: tests/conftest.py function pytest_addoption (line 19) | def pytest_addoption(parser): function pytest_generate_tests (line 35) | def pytest_generate_tests(metafunc): function check_gpu_usage (line 43) | def check_gpu_usage(): function pytest_configure (line 72) | def pytest_configure(config) -> None: function load_model_from_file (line 90) | def load_model_from_file(file_path: pathlib.Path, is_urdf=False) -> rod.... function prng_key (line 111) | def prng_key() -> jax.Array: function velocity_representation (line 135) | def velocity_representation(request) -> jaxsim.VelRepr: function integrator (line 154) | def integrator(request) -> str: function batch_size (line 166) | def batch_size(request) -> int: function build_jaxsim_model (line 186) | def build_jaxsim_model( function jaxsim_model_box (line 208) | def jaxsim_model_box() -> js.model.JaxSimModel: function jaxsim_model_sphere (line 247) | def jaxsim_model_sphere() -> js.model.JaxSimModel: function ergocub_model_description_path (line 278) | def ergocub_model_description_path() -> pathlib.Path: function jaxsim_model_ergocub (line 305) | def jaxsim_model_ergocub( function jaxsim_model_ergocub_reduced (line 320) | def jaxsim_model_ergocub_reduced(jaxsim_model_ergocub) -> js.model.JaxSi... function jaxsim_model_ur10 (line 354) | def jaxsim_model_ur10() -> js.model.JaxSimModel: function jaxsim_model_single_pendulum (line 371) | def jaxsim_model_single_pendulum() -> js.model.JaxSimModel: function jaxsim_model_garpez (line 480) | def jaxsim_model_garpez() -> js.model.JaxSimModel: function jaxsim_model_garpez_scaled (line 493) | def jaxsim_model_garpez_scaled(request) -> js.model.JaxSimModel: function create_scalable_garpez_model (line 516) | def create_scalable_garpez_model( function create_model_with_missing_collision (line 710) | def create_model_with_missing_collision() -> rod.Model: function jaxsim_model_missing_collision (line 808) | def jaxsim_model_missing_collision() -> js.model.JaxSimModel: function jaxsim_model_double_pendulum (line 825) | def jaxsim_model_double_pendulum() -> js.model.JaxSimModel: function jaxsim_model_cartpole (line 840) | def jaxsim_model_cartpole() -> js.model.JaxSimModel: function jaxsim_model_4_bar_linkage (line 857) | def jaxsim_model_4_bar_linkage() -> js.model.JaxSimModel: function get_jaxsim_model_fixture (line 877) | def get_jaxsim_model_fixture( function jaxsim_models_all (line 923) | def jaxsim_models_all(request) -> pathlib.Path | str: function jaxsim_models_types (line 940) | def jaxsim_models_types(request) -> pathlib.Path | str: function jaxsim_models_no_joints (line 963) | def jaxsim_models_no_joints(request) -> pathlib.Path | str: function jaxsim_models_floating_base (line 979) | def jaxsim_models_floating_base(request) -> pathlib.Path | str: function jaxsim_models_fixed_base (line 994) | def jaxsim_models_fixed_base(request) -> pathlib.Path | str: function set_jax_32bit (line 1004) | def set_jax_32bit(monkeypatch): function jaxsim_model_box_32bit (line 1017) | def jaxsim_model_box_32bit(set_jax_32bit, request) -> js.model.JaxSimModel: FILE: tests/test_actuation.py function test_tn_curve (line 11) | def test_tn_curve(jaxsim_model_single_pendulum: js.model.JaxSimModel): FILE: tests/test_api_com.py function test_com_properties (line 10) | def test_com_properties( FILE: tests/test_api_contact.py function test_contact_kinematics (line 11) | def test_contact_kinematics( function test_collidable_point_jacobians (line 73) | def test_collidable_point_jacobians( function test_contact_jacobian_derivative (line 105) | def test_contact_jacobian_derivative( FILE: tests/test_api_data.py function test_data_valid (line 14) | def test_data_valid( function test_data_switch_velocity_representation (line 24) | def test_data_switch_velocity_representation( function test_data_change_velocity_representation (line 64) | def test_data_change_velocity_representation( FILE: tests/test_api_frame.py function test_frame_index (line 15) | def test_frame_index(jaxsim_models_types: js.model.JaxSimModel): function test_frame_transforms (line 75) | def test_frame_transforms( function test_frame_jacobians (line 129) | def test_frame_jacobians( function test_frame_jacobian_derivative (line 182) | def test_frame_jacobian_derivative( FILE: tests/test_api_joint.py function test_joint_index (line 9) | def test_joint_index( FILE: tests/test_api_link.py function test_link_index (line 15) | def test_link_index( function test_link_inertial_properties (line 57) | def test_link_inertial_properties( function test_link_transforms (line 98) | def test_link_transforms( function test_link_jacobians (line 135) | def test_link_jacobians( function test_link_bias_acceleration (line 205) | def test_link_bias_acceleration( function test_link_jacobian_derivative (line 289) | def test_link_jacobian_derivative( FILE: tests/test_api_model.py function test_model_creation_and_reduction (line 16) | def test_model_creation_and_reduction( function test_model_properties (line 234) | def test_model_properties( function test_model_rbda (line 278) | def test_model_rbda( function test_model_jacobian (line 335) | def test_model_jacobian( function test_coriolis_matrix (line 406) | def test_coriolis_matrix( function test_model_fd_id_consistency (line 495) | def test_model_fd_id_consistency( function test_aba_vs_aba_parallel (line 580) | def test_aba_vs_aba_parallel( function test_fk_vs_fk_parallel (line 640) | def test_fk_vs_fk_parallel( FILE: tests/test_api_model_hw_parametrization.py function test_update_hw_link_parameters (line 21) | def test_update_hw_link_parameters(jaxsim_model_garpez: js.model.JaxSimM... function test_model_scaling_against_rod (line 87) | def test_model_scaling_against_rod( function test_update_hw_parameters_vmap (line 145) | def test_update_hw_parameters_vmap( function test_export_updated_model (line 213) | def test_export_updated_model( function test_hw_parameters_optimization (line 335) | def test_hw_parameters_optimization(jaxsim_model_garpez: js.model.JaxSim... function test_hw_parameters_collision_scaling (line 410) | def test_hw_parameters_collision_scaling( function test_unsupported_link_cases (line 504) | def test_unsupported_link_cases(): function test_export_continuous_joint_handling (line 692) | def test_export_continuous_joint_handling(): function test_export_model_with_missing_collision (line 775) | def test_export_model_with_missing_collision( function test_export_mesh_scaling_preserves_nonzero_visual_and_joint_origins (line 870) | def test_export_mesh_scaling_preserves_nonzero_visual_and_joint_origins( function test_mesh_shape_enum (line 994) | def test_mesh_shape_enum(): function test_mixed_shapes_metadata (line 1000) | def test_mixed_shapes_metadata(): function test_mixed_shapes_scaling (line 1040) | def test_mixed_shapes_scaling(): FILE: tests/test_automatic_differentiation.py function get_random_data_and_references (line 31) | def get_random_data_and_references( function test_ad_aba (line 66) | def test_ad_aba( function test_ad_aba_parallel (line 131) | def test_ad_aba_parallel( function test_ad_rnea (line 211) | def test_ad_rnea( function test_ad_crba (line 272) | def test_ad_crba( function test_ad_fk (line 304) | def test_ad_fk( function test_ad_jacobian (line 360) | def test_ad_jacobian( function test_ad_soft_contacts (line 399) | def test_ad_soft_contacts( function test_ad_integration (line 451) | def test_ad_integration( function test_ad_safe_norm (line 528) | def test_ad_safe_norm( function test_ad_hw_parameters (line 572) | def test_ad_hw_parameters( FILE: tests/test_benchmark.py function vectorize_data (line 12) | def vectorize_data(model: js.model.JaxSimModel, batch_size: int): function benchmark_test_function (line 24) | def benchmark_test_function( function test_forward_dynamics_aba (line 39) | def test_forward_dynamics_aba( function test_free_floating_bias_forces (line 48) | def test_free_floating_bias_forces( function test_forward_kinematics (line 59) | def test_forward_kinematics( function test_free_floating_mass_matrix (line 68) | def test_free_floating_mass_matrix( function test_free_floating_jacobian (line 79) | def test_free_floating_jacobian( function test_free_floating_jacobian_derivative (line 90) | def test_free_floating_jacobian_derivative( function test_soft_contact_model (line 104) | def test_soft_contact_model( function test_rigid_contact_model (line 117) | def test_rigid_contact_model( function test_relaxed_rigid_contact_model (line 130) | def test_relaxed_rigid_contact_model( function test_simulation_step (line 143) | def test_simulation_step( function test_update_hw_parameters (line 156) | def test_update_hw_parameters( function test_export_updated_model (line 185) | def test_export_updated_model( FILE: tests/test_exceptions.py function test_exceptions_in_jit_functions (line 13) | def test_exceptions_in_jit_functions(): FILE: tests/test_meshes.py function test_mesh_wrapping_vertex_extraction (line 6) | def test_mesh_wrapping_vertex_extraction(): function test_mesh_wrapping_aap (line 30) | def test_mesh_wrapping_aap(): function test_mesh_wrapping_points_over_axis (line 66) | def test_mesh_wrapping_points_over_axis(): FILE: tests/test_pytree.py function test_call_jit_compiled_function_passing_different_objects (line 13) | def test_call_jit_compiled_function_passing_different_objects( FILE: tests/test_simulations.py function test_box_with_external_forces (line 15) | def test_box_with_external_forces( function test_box_with_zero_gravity (line 88) | def test_box_with_zero_gravity( function run_simulation (line 170) | def run_simulation( function test_simulation_with_soft_contacts (line 194) | def test_simulation_with_soft_contacts( function test_simulation_with_rigid_contacts (line 245) | def test_simulation_with_rigid_contacts( function test_simulation_with_relaxed_rigid_contacts (line 295) | def test_simulation_with_relaxed_rigid_contacts( function test_joint_limits (line 347) | def test_joint_limits( function test_simulation_with_kinematic_constraints_double_pendulum (line 411) | def test_simulation_with_kinematic_constraints_double_pendulum( function test_simulation_with_kinematic_constraints_cartpole (line 477) | def test_simulation_with_kinematic_constraints_cartpole( function test_simulation_with_kinematic_constraints_4_bar_linkage (line 549) | def test_simulation_with_kinematic_constraints_4_bar_linkage( FILE: tests/test_visualizer.py function mujoco_camera (line 9) | def mujoco_camera(): function test_urdf_loading (line 22) | def test_urdf_loading(jaxsim_model_single_pendulum, mujoco_camera): function test_sdf_loading (line 28) | def test_sdf_loading(jaxsim_model_single_pendulum, mujoco_camera): function test_rod_loading (line 37) | def test_rod_loading(jaxsim_model_single_pendulum, mujoco_camera): function test_heightmap (line 44) | def test_heightmap(jaxsim_model_single_pendulum, mujoco_camera): function test_inclined_plane (line 56) | def test_inclined_plane(jaxsim_model_single_pendulum, mujoco_camera): FILE: tests/utils.py function assert_allclose (line 14) | def assert_allclose(actual, desired, rtol=1e-7, atol=1e-9, err_msg=""): function build_kindyncomputations_from_jaxsim_model (line 29) | def build_kindyncomputations_from_jaxsim_model( function store_jaxsim_data_in_kindyncomputations (line 103) | def store_jaxsim_data_in_kindyncomputations( class KinDynComputations (line 135) | class KinDynComputations: method build (line 143) | def build( method set_robot_state (line 196) | def set_robot_state( method dofs (line 249) | def dofs(self) -> int: method joint_names (line 253) | def joint_names(self) -> list[str]: method link_names (line 258) | def link_names(self) -> list[str]: method frame_names (line 264) | def frame_names(self) -> list[str]: method joint_positions (line 271) | def joint_positions(self) -> npt.NDArray: method joint_velocities (line 280) | def joint_velocities(self) -> npt.NDArray: method jacobian_frame (line 289) | def jacobian_frame(self, frame_name: str) -> npt.NDArray: method total_mass (line 301) | def total_mass(self) -> float: method link_spatial_inertia (line 306) | def link_spatial_inertia(self, link_name: str) -> npt.NDArray: method link_mass (line 316) | def link_mass(self, link_name: str) -> float: method floating_base_frame (line 326) | def floating_base_frame(self) -> str: method frame_transform (line 330) | def frame_transform(self, frame_name: str) -> npt.NDArray: method frame_relative_transform (line 346) | def frame_relative_transform( method frame_parent_link_name (line 366) | def frame_parent_link_name(self, frame_name: str) -> str: method base_velocity (line 373) | def base_velocity(self) -> npt.NDArray: method frame_velocity (line 382) | def frame_velocity(self, frame_name: str) -> npt.NDArray: method frame_bias_acc (line 391) | def frame_bias_acc(self, frame_name: str) -> npt.NDArray: method com_position (line 400) | def com_position(self) -> npt.NDArray: method com_velocity (line 405) | def com_velocity(self) -> npt.NDArray: method com_bias_acceleration (line 410) | def com_bias_acceleration(self) -> npt.NDArray: method mass_matrix (line 414) | def mass_matrix(self) -> npt.NDArray: method bias_forces (line 423) | def bias_forces(self) -> npt.NDArray: method gravity_forces (line 437) | def gravity_forces(self) -> npt.NDArray: method total_momentum (line 451) | def total_momentum(self) -> npt.NDArray: method centroidal_momentum (line 455) | def centroidal_momentum(self) -> npt.NDArray: method total_momentum_jacobian (line 459) | def total_momentum_jacobian(self) -> npt.NDArray: method centroidal_momentum_jacobian (line 468) | def centroidal_momentum_jacobian(self) -> npt.NDArray: method locked_spatial_inertia (line 477) | def locked_spatial_inertia(self) -> npt.NDArray: method locked_centroidal_spatial_inertia (line 481) | def locked_centroidal_spatial_inertia(self) -> npt.NDArray: method average_velocity (line 485) | def average_velocity(self) -> npt.NDArray: method average_velocity_jacobian (line 489) | def average_velocity_jacobian(self) -> npt.NDArray: method average_centroidal_velocity (line 498) | def average_centroidal_velocity(self) -> npt.NDArray: method average_centroidal_velocity_jacobian (line 502) | def average_centroidal_velocity_jacobian(self) -> npt.NDArray: