diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml index e09cffc84..84e4d4061 100644 --- a/.github/workflows/ci_cd.yml +++ b/.github/workflows/ci_cd.yml @@ -148,7 +148,7 @@ jobs: - name: Publish to PyPI if: | - github.repository == 'ami-iit/jaxsim' && + github.repository == 'gbionics/jaxsim' && ((github.event_name == 'push' && github.ref == 'refs/heads/main') || (github.event_name == 'release')) uses: pypa/gh-action-pypi-publish@release/v1 diff --git a/CITATION.cff b/CITATION.cff index 7ae51d50f..02463f71a 100644 --- a/CITATION.cff +++ b/CITATION.cff @@ -24,7 +24,7 @@ authors: - family-names: Pucci given-names: Daniele affiliation: "Generative Bionics" -repository-code: "https://github.com/ami-iit/jaxsim" +repository-code: "https://github.com/gbionics/jaxsim" license: BSD-3-Clause preferred-citation: type: article diff --git a/docs/guide/install.rst b/docs/guide/install.rst index b470f99c6..fb213b7a0 100644 --- a/docs/guide/install.rst +++ b/docs/guide/install.rst @@ -30,7 +30,7 @@ You can install all by using ``pip install "jaxsim[all]"``. If you need GPU support, please follow the official `installation instruction`_ of JAX. .. _conda: https://anaconda.org/ -.. _pyproject.toml: https://github.com/ami-iit/jaxsim/blob/main/pyproject.toml +.. _pyproject.toml: https://github.com/gbionics/jaxsim/blob/main/pyproject.toml .. _pypa/pip: https://github.com/pypa/pip/ .. _virtual environment: https://docs.python.org/3.8/tutorial/venv.html .. _installation instruction: https://github.com/google/jax/#installation diff --git a/docs/index.rst b/docs/index.rst index 58ac77ae6..0adbbb2a0 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -90,7 +90,7 @@ Features Examples -------- -Explore and learn how to use the library through practical demonstrations available in the `examples `__ folder. +Explore and learn how to use the library through practical demonstrations available in the `examples `__ folder. Credits ------- diff --git a/examples/README.md b/examples/README.md index 63043fbbe..e93f16ac4 100644 --- a/examples/README.md +++ b/examples/README.md @@ -12,10 +12,10 @@ This folder contains Jupyter notebooks that demonstrate the practical usage of J | [`jaxsim_for_robot_controllers.ipynb`](./jaxsim_for_robot_controllers.ipynb) | [![Open In Colab][colab_badge]][ipynb_jaxsim_closed_loop] | A basic example showing how to simulate a PD controller with gravity compensation for a 2-DOF cart-pole. | [colab_badge]: https://colab.research.google.com/assets/colab-badge.svg -[ipynb_jaxsim_closed_loop]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_for_robot_controllers.ipynb -[ipynb_jaxsim_as_physics_engine]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_physics_engine.ipynb -[jaxsim_as_physics_engine_advanced]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_physics_engine_advanced.ipynb -[ipynb_jaxsim_as_multibody_dynamics]: https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_multibody_dynamics_library.ipynb +[ipynb_jaxsim_closed_loop]: https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_for_robot_controllers.ipynb +[ipynb_jaxsim_as_physics_engine]: https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_as_physics_engine.ipynb +[jaxsim_as_physics_engine_advanced]: https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_as_physics_engine_advanced.ipynb +[ipynb_jaxsim_as_multibody_dynamics]: https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_as_multibody_dynamics_library.ipynb ## How to run the examples diff --git a/examples/jaxsim_as_multibody_dynamics_library.ipynb b/examples/jaxsim_as_multibody_dynamics_library.ipynb index 4c73f469b..64252a766 100644 --- a/examples/jaxsim_as_multibody_dynamics_library.ipynb +++ b/examples/jaxsim_as_multibody_dynamics_library.ipynb @@ -14,7 +14,7 @@ "\n", "A key advantage of JaxSim is its ability to create fully differentiable closed-loop systems, enabling end-to-end optimization. Combined with the flexibility to parameterize model kinematics and dynamics, JaxSim can serve as an excellent playground for robot learning applications.\n", "\n", - "\n", + "\n", " \"Open\n", "\n" ] diff --git a/examples/jaxsim_as_physics_engine.ipynb b/examples/jaxsim_as_physics_engine.ipynb index 3c7744e90..035bd839e 100644 --- a/examples/jaxsim_as_physics_engine.ipynb +++ b/examples/jaxsim_as_physics_engine.ipynb @@ -10,7 +10,7 @@ "\n", "This notebook shows how to use the key APIs to load a robot model and simulate multiple trajectories simultaneously.\n", "\n", - "\n", + "\n", " \"Open\n", "" ] @@ -81,7 +81,7 @@ "[sdformat]: http://sdformat.org/\n", "[urdf]: http://wiki.ros.org/urdf/\n", "[ergocub]: https://ergocub.eu/\n", - "[rod]: https://github.com/ami-iit/rod\n", + "[rod]: https://github.com/gbionics/rod\n", "\n", "### Create the model and its data\n", " To define a simulation we need two main objects:\n", diff --git a/examples/jaxsim_as_physics_engine_advanced.ipynb b/examples/jaxsim_as_physics_engine_advanced.ipynb index e74dc6e23..f7ed54795 100644 --- a/examples/jaxsim_as_physics_engine_advanced.ipynb +++ b/examples/jaxsim_as_physics_engine_advanced.ipynb @@ -12,7 +12,7 @@ "\n", "In this notebook, you'll learn how to use the key APIs to load a simple robot model (a sphere) and simulate multiple trajectories in parallel on GPUs.\n", "\n", - "\n", + "\n", " \"Open\n", "" ] @@ -85,13 +85,13 @@ "source": [ "## Prepare the simulation\n", "\n", - "JaxSim supports loading robot descriptions from both [SDF][sdformat] and [URDF][urdf] files. This is done using the [`ami-iit/rod`][rod] library, which processes these formats.\n", + "JaxSim supports loading robot descriptions from both [SDF][sdformat] and [URDF][urdf] files. This is done using the [`gbionics/rod`][rod] library, which processes these formats.\n", "\n", "The `rod` library also allows creating in-memory models that can be serialized to SDF or URDF. We'll use this functionality to build a sphere model, which will later be used to create the JaxSim model.\n", "\n", "[sdformat]: http://sdformat.org/\n", "[urdf]: http://wiki.ros.org/urdf/\n", - "[rod]: https://github.com/ami-iit/rod" + "[rod]: https://github.com/gbionics/rod" ] }, { diff --git a/examples/jaxsim_for_robot_controllers.ipynb b/examples/jaxsim_for_robot_controllers.ipynb index 27635be3e..9cfd3247b 100644 --- a/examples/jaxsim_for_robot_controllers.ipynb +++ b/examples/jaxsim_for_robot_controllers.ipynb @@ -12,7 +12,7 @@ "\n", "In this notebook, you'll explore how to combine these two core features. Specifically, you'll learn how to load a robot model and design a model-based controller for closed-loop simulations.\n", "\n", - "\n", + "\n", " \"Open\n", "" ] @@ -80,13 +80,13 @@ "source": [ "## Prepare the simulation\n", "\n", - "JaxSim supports loading robot models from both [SDF][sdformat] and [URDF][urdf] files, utilizing the [`ami-iit/rod`][rod] library for processing these formats.\n", + "JaxSim supports loading robot models from both [SDF][sdformat] and [URDF][urdf] files, utilizing the [`gbionics/rod`][rod] library for processing these formats.\n", "\n", "The `rod` library library can read URDF files and validates them internally using [`gazebosim/sdformat`][sdformat_github]. In this example, we'll load a cart-pole model, which will be used to create the JaxSim simulation model.\n", "\n", "[sdformat]: http://sdformat.org/\n", "[urdf]: http://wiki.ros.org/urdf/\n", - "[rod]: https://github.com/ami-iit/rod\n", + "[rod]: https://github.com/gbionics/rod\n", "[sdformat_github]: https://github.com/gazebosim/sdformat" ] }, @@ -114,7 +114,7 @@ "import urllib\n", "\n", "# Retrieve the file\n", - "url = \"https://raw.githubusercontent.com/ami-iit/jaxsim/refs/heads/main/examples/assets/cartpole.urdf\"\n", + "url = \"https://raw.githubusercontent.com/gbionics/jaxsim/refs/heads/main/examples/assets/cartpole.urdf\"\n", "model_path, _ = urllib.request.urlretrieve(url)\n", "model_urdf_string = pathlib.Path(model_path).read_text()" ] diff --git a/pyproject.toml b/pyproject.toml index baf55931f..0844ae435 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -89,10 +89,10 @@ file = "README.md" content-type = "text/markdown" [project.urls] -Changelog = "https://github.com/ami-iit/jaxsim/releases" +Changelog = "https://github.com/gbionics/jaxsim/releases" Documentation = "https://jaxsim.readthedocs.io" -Source = "https://github.com/ami-iit/jaxsim" -Tracker = "https://github.com/ami-iit/jaxsim/issues" +Source = "https://github.com/gbionics/jaxsim" +Tracker = "https://github.com/gbionics/jaxsim/issues" # =========== # Build tools diff --git a/src/jaxsim/rbda/kinematic_constraints.py b/src/jaxsim/rbda/kinematic_constraints.py index 9f0a17d38..4b7e7773e 100644 --- a/src/jaxsim/rbda/kinematic_constraints.py +++ b/src/jaxsim/rbda/kinematic_constraints.py @@ -13,7 +13,7 @@ # Utility functions used for constraints computation. These functions duplicate part of the jaxsim.api.frame module for computational efficiency. # TODO: remove these functions when jaxsim.api.frame is optimized for batched computations. -# See: https://github.com/ami-iit/jaxsim/issues/451 +# See: https://github.com/gbionics/jaxsim/issues/451 def _compute_constraint_transforms_batched( diff --git a/tests/test_api_com.py b/tests/test_api_com.py index 56f79d7d3..bb5fd926d 100644 --- a/tests/test_api_com.py +++ b/tests/test_api_com.py @@ -56,7 +56,7 @@ def test_com_properties( assert_allclose(v_avg_com_idt, v_avg_com_js) - # https://github.com/ami-iit/jaxsim/pull/117#discussion_r1535486123 + # https://github.com/gbionics/jaxsim/pull/117#discussion_r1535486123 if data.velocity_representation is not VelRepr.Body: vl_com_idt = kin_dyn.com_velocity() vl_com_js = js.com.com_linear_velocity(model=model, data=data) diff --git a/tests/test_api_frame.py b/tests/test_api_frame.py index 30215ee2e..5cbe5693e 100644 --- a/tests/test_api_frame.py +++ b/tests/test_api_frame.py @@ -32,7 +32,7 @@ def test_frame_index(jaxsim_models_types: js.model.JaxSimModel): < model.number_of_links() ) - # See discussion in https://github.com/ami-iit/jaxsim/pull/280 + # See discussion in https://github.com/gbionics/jaxsim/pull/280 assert_array_equal( js.frame.names_to_idxs(model=model, frame_names=model.frame_names()), jnp.arange(n_l, n_l + n_f), diff --git a/tests/test_api_joint.py b/tests/test_api_joint.py index 75f75cadc..05af67503 100644 --- a/tests/test_api_joint.py +++ b/tests/test_api_joint.py @@ -20,7 +20,7 @@ def test_joint_index( assert js.joint.name_to_idx(model=model, joint_name=joint_name) == idx assert js.joint.idx_to_name(model=model, joint_index=idx) == joint_name - # See discussion in https://github.com/ami-iit/jaxsim/pull/280 + # See discussion in https://github.com/gbionics/jaxsim/pull/280 assert_array_equal( js.joint.names_to_idxs(model=model, joint_names=model.joint_names()), jnp.arange(model.number_of_joints()), diff --git a/tests/test_api_link.py b/tests/test_api_link.py index 32546ef02..32d8b0e1d 100644 --- a/tests/test_api_link.py +++ b/tests/test_api_link.py @@ -26,7 +26,7 @@ def test_link_index( assert js.link.name_to_idx(model=model, link_name=link_name) == idx assert js.link.idx_to_name(model=model, link_index=idx) == link_name - # See discussion in https://github.com/ami-iit/jaxsim/pull/280 + # See discussion in https://github.com/gbionics/jaxsim/pull/280 assert_array_equal( js.link.names_to_idxs(model=model, link_names=model.link_names()), jnp.arange(model.number_of_links()),