Add explicit __eq__ operators for classes that have ndarray attribute…

…s and could be used as Static jax_dataclasses attributes

src/jaxsim/parsers/descriptions/collision.py

@@ -50,6 +50,12 @@ def change_link(
             enabled=self.enabled,
         )
 
+    def __eq__(self,other):
+        retval = (self.parent_link == other.parent_link and
+                  (self.position == other.position).all() and
+                  self.enabled == other.enabled)
+        return retval
+
     def __str__(self):
         return (
             f"{self.__class__.__name__}("
@@ -93,6 +99,9 @@ class BoxCollision(CollisionShape):
 
     center: npt.NDArray
 
+    def __eq__(self,other):
+        return ((self.center == other.center).all() and
+                super().__eq__(other))
 
 @dataclasses.dataclass
 class SphereCollision(CollisionShape):
@@ -105,3 +114,7 @@ class SphereCollision(CollisionShape):
     """
 
     center: npt.NDArray
+
+    def __eq__(self,other):
+        return ((self.center == other.center).all() and
+                super().__eq__(other))

src/jaxsim/parsers/descriptions/link.py

@@ -38,6 +38,15 @@ class LinkDescription(JaxsimDataclass):
     def __hash__(self) -> int:
         return hash(self.__repr__())
 
+    def __eq__(self,other) -> bool:
+        return (self.name == other.name and
+                self.mass == other.mass and
+                (self.inertia == other.inertia).all() and
+                self.index == other.index and
+                self.parent == other.parent and
+                (self.pose == other.pose).all() and
+                self.children == other.children)
+
     @property
     def name_and_index(self) -> str:
         """

src/jaxsim/parsers/kinematic_graph.py

@@ -34,6 +34,10 @@ class RootPose(NamedTuple):
     root_position: npt.NDArray = np.zeros(3)
     root_quaternion: npt.NDArray = np.array([1.0, 0, 0, 0])
 
+    def __eq__(self, other):
+        return ((self.root_position == other.root_position).all() and
+                (self.root_quaternion == other.root_quaternion).all())
+
 
 @dataclasses.dataclass(frozen=True)
 class KinematicGraph: