Update repository references to new owner

.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

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

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

docs/index.rst

@@ -90,7 +90,7 @@ Features
 Examples
 --------
 
-Explore and learn how to use the library through practical demonstrations available in the `examples <https://github.com/ami-iit/jaxsim/tree/main/examples>`__ folder.
+Explore and learn how to use the library through practical demonstrations available in the `examples <https://github.com/gbionics/jaxsim/tree/main/examples>`__ folder.
 
 Credits
 -------

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
 

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",
-    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_multibody_dynamics_library.ipynb\">\n",
+    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_as_multibody_dynamics_library.ipynb\">\n",
     "  <img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/>\n",
     "</a>\n"
    ]

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",
-    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_physics_engine.ipynb\">\n",
+    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_as_physics_engine.ipynb\">\n",
     "  <img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/>\n",
     "</a>"
    ]
@@ -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",

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",
-    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_as_physics_engine_advanced.ipynb\">\n",
+    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_as_physics_engine_advanced.ipynb\">\n",
     "  <img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/>\n",
     "</a>"
    ]
@@ -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"
    ]
   },
   {

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",
-    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/ami-iit/jaxsim/blob/main/examples/jaxsim_for_robot_controllers.ipynb\">\n",
+    "<a target=\"_blank\" href=\"https://colab.research.google.com/github/gbionics/jaxsim/blob/main/examples/jaxsim_for_robot_controllers.ipynb\">\n",
     "  <img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/>\n",
     "</a>"
    ]
@@ -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()"
    ]

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

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(

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)

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),

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()),

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()),