jaxsim 0.2.1.dev62__py3-none-any.whl → 0.2.1.dev70__py3-none-any.whl

jaxsim/parsers/rod/parser.py

@@ -6,7 +6,6 @@ import jax.numpy as jnp
 import numpy as np
 import rod
 
-import jaxsim.utils
 from jaxsim import logging
 from jaxsim.math.quaternion import Quaternion
 from jaxsim.parsers import descriptions, kinematic_graph
@@ -371,6 +370,7 @@ def build_model_description(
         name=sdf_data.model_name,
         links=sdf_data.link_descriptions,
         joints=sdf_data.joint_descriptions,
+        frames=sdf_data.frame_descriptions,
         collisions=sdf_data.collision_shapes,
         fixed_base=sdf_data.fixed_base,
         base_link_name=sdf_data.base_link_name,
@@ -382,47 +382,7 @@ def build_model_description(
         ],
     )
 
-    # Depending on how the model is reduced due to the removal of fixed joints,
-    # there might be frames that are no longer attached to existing links.
-    # We need to change the link to which they are attached to, and update their pose.
-    frames_with_no_parent_link = (
-        f for f in sdf_data.frame_descriptions if f.parent.name not in graph
-    )
-
-    # Build the object to compute forward kinematics.
-    fk = kinematic_graph.KinematicGraphTransforms(graph=graph)
-
-    for frame in frames_with_no_parent_link:
-        # Get the original data of the frame.
-        original_pose = frame.pose
-        original_parent_link = frame.parent.name
-
-        # The parent link, that has been removed, became a frame.
-        assert original_parent_link in graph.frames_dict, (frame, original_parent_link)
-
-        # Get the new parent of the frame corresponding to the removed parent link.
-        new_parent_link = graph.frames_dict[original_parent_link].parent.name
-        logging.debug(f"Frame '{frame.name}' is now attached to '{new_parent_link}'")
-
-        # Get the transform from the new parent link to the original parent link.
-        # The original pose is expressed wrt the original parent link.
-        F_H_P = fk.relative_transform(
-            relative_to=new_parent_link, name=original_parent_link
-        )
-
-        # Update the frame with the updated data.
-        with frame.mutable_context(
-            mutability=jaxsim.utils.Mutability.MUTABLE_NO_VALIDATION
-        ):
-            frame.parent = graph.links_dict[new_parent_link]
-            frame.pose = np.array(F_H_P @ original_pose)
-
-    # Include the SDF frames originally stored in the SDF.
-    graph = dataclasses.replace(
-        graph, frames=sdf_data.frame_descriptions + graph.frames
-    )
-
     # Store the parsed SDF tree as extra info
-    graph = dataclasses.replace(graph, extra_info={"sdf_model": sdf_data.sdf_model})
+    graph = dataclasses.replace(graph, _extra_info={"sdf_model": sdf_data.sdf_model})
 
     return graph

{jaxsim-0.2.1.dev62.dist-info → jaxsim-0.2.1.dev70.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.1.dev62
+Version: 0.2.1.dev70
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.2.1.dev62.dist-info → jaxsim-0.2.1.dev70.dist-info}/RECORD

@@ -1,16 +1,17 @@
 jaxsim/__init__.py,sha256=OcrfoYS1DGcmAGqu2AqlCTiUVxcpi-IsVwcr_16x74Q,1789
-jaxsim/_version.py,sha256=Hx1JMXPfq8Zv6HuR-6IFATjmRgjZxP4VslsMBkulp5E,426
+jaxsim/_version.py,sha256=1SWO53mcoalXzzBdA6_IrZRpZQsi_WIK6NLf67IAp-A,426
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=MeuOCQtLAr-sPkvB_sU8FtwGNRirz1auCwIgRC-QZl8,646
-jaxsim/api/__init__.py,sha256=fNTCPUeDfOAizRd4RsW3Epv0sLTu0KJGoFRSEsi75VM,162
+jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
 jaxsim/api/com.py,sha256=Qtm_6qpiK4WtDVn6JMUHa8DySgBl9CjgKCybJqZ58Lc,7379
 jaxsim/api/common.py,sha256=DV-WZG28sikXopNv458aYvpLjmiAtFr5LRscOwXusuk,6640
 jaxsim/api/contact.py,sha256=Ve4ZOWkLEBRgK3KhtICxKY7YzsxYvc3lO-pPRBjqSnY,8659
 jaxsim/api/data.py,sha256=GXSCfq4_PsRZuUwsmcl18e2Ppdtu4ykYs0oWih8J2ZI,26775
+jaxsim/api/frame.py,sha256=68liCmwFDikuP0GQOpo-nF7aVeHJ173e1USSOwskTP0,6246
 jaxsim/api/joint.py,sha256=-5DogPg4g4mmLckyVIVNjwv-Rxz0IWS7_md9nDlhPWA,4581
 jaxsim/api/kin_dyn_parameters.py,sha256=9xdHS3lDWSEdV0qAqCVoS6cSMUw17ebPJdbBfq4vjVU,25959
 jaxsim/api/link.py,sha256=rypTwkMf9HJ5UuAtHRJh0LqqdJWcLKTtTjWcjduEsF0,9842
-jaxsim/api/model.py,sha256=Ci7hl4M1gbnHNQAO5GLjxOdvJe8w3dhvGB_7x2gdpaU,53540
+jaxsim/api/model.py,sha256=7qBsneoc3dWNIsd6INzItGaIWSTgO98TQUZaeyVRrdk,53809
 jaxsim/api/ode.py,sha256=6l-6i2YHagsQvR8Ac-_fmO6P0hBVT6NkHhwXnrdITEg,9785
 jaxsim/api/ode_data.py,sha256=dwRFVPJ30XMmdUbPXEu7YxsQ97jZP4L4fd5ZzhrO5Ys,22184
 jaxsim/api/references.py,sha256=Lvskf17r619KKxwCJP7hAAty2kaXgDXJX1uKqoDIDgo,15483
@@ -33,14 +34,14 @@ jaxsim/mujoco/loaders.py,sha256=Tq3b2tq_BulGm9GCM00NQMzcD7B0yKvoyiP94aFbjx4,2102
 jaxsim/mujoco/model.py,sha256=5-4KTbEbU19zjrSuvUVdLo3noWxTvlCNsFIs3rQTNDY,13506
 jaxsim/mujoco/visualizer.py,sha256=YlteqcCbeB1B6saAHKBz1IJad3N5Rp163reZrzKLAys,5065
 jaxsim/parsers/__init__.py,sha256=sonYi-bBWAoB04kp1mxT4uIORxjb7SdZ0ukGPmVx98Y,44
-jaxsim/parsers/kinematic_graph.py,sha256=rAqh1XBJU0qDkDoA_BSdt-PwBBTFO8SXVpr81Xumbp4,29074
+jaxsim/parsers/kinematic_graph.py,sha256=zFt7x7pPGJar36Azukdi1eI_sa1kMWD3B8kZqcHx6iw,33934
 jaxsim/parsers/descriptions/__init__.py,sha256=PbIlunVfb59pB5jSX97YVpMAANRZPRkJ0X-hS14rzv4,221
 jaxsim/parsers/descriptions/collision.py,sha256=HUWwuRgI9KznY29FFw1_zU3bGigDEezrcPOJSxSJGNU,3382
 jaxsim/parsers/descriptions/joint.py,sha256=r7teUWJyw62WS7qNCB_9FGQD1hvGHBepk-2LCSlmcSc,3052
-jaxsim/parsers/descriptions/link.py,sha256=hqLLitrAXnouia6ULk1BPOIEfRxrXwHmoPsi306IZW8,2859
-jaxsim/parsers/descriptions/model.py,sha256=hapbpO1VpC7f5ELkGH1ZtM2I3dpmYLz8Em5cb3DdiaA,9264
+jaxsim/parsers/descriptions/link.py,sha256=GC-6ZgRZuRVpcRo1sY6YaR8lkCHkR4DvHNs2Ydw_tn4,2887
+jaxsim/parsers/descriptions/model.py,sha256=uO5xOJtViihVPnSSsmfQJvCh45ANyi9KYAzLOhH0R8g,8993
 jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrGU,92
-jaxsim/parsers/rod/parser.py,sha256=DmYYHAovzn1WnY_8qb6Sihr8QX--RMj32QF1RXPdScM,15278
+jaxsim/parsers/rod/parser.py,sha256=Q13TOkmpU0SHpgSV8WRYWb290aPNNLsaz4eMlD4Mq5w,13525
 jaxsim/parsers/rod/utils.py,sha256=9oO4YsQRaR2v700IkNOXRnPpn5i4N8HFfgjPkMLK2mc,5732
 jaxsim/rbda/__init__.py,sha256=HLwxeU-IxaRpFGUCSQv-LDv20JHTt3Xj7ELiRbRieS8,319
 jaxsim/rbda/aba.py,sha256=0OoCzHhf1v-qqr1y5PIrD7_mPwAlid0fjXxUrIa5E_s,9118
@@ -57,8 +58,8 @@ jaxsim/utils/__init__.py,sha256=tnQq1_CavdfeKaLYt3pmO7Jk4MU2RwwQU_qICkjyoTY,197
 jaxsim/utils/hashless.py,sha256=bFIwKeo9KiWwsY8QM55duEGGQOyyJ4jQyPcuqTLEp5k,297
 jaxsim/utils/jaxsim_dataclass.py,sha256=h26timZ_XrBL_Q_oymv-DkQd-EcUiHn8QexAaZXBY9c,11396
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
-jaxsim-0.2.1.dev62.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.2.1.dev62.dist-info/METADATA,sha256=DoUJa_NrYDSrT9LehopeQoXB2XARE38Z9cHiOKnEC5A,9744
-jaxsim-0.2.1.dev62.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-jaxsim-0.2.1.dev62.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.2.1.dev62.dist-info/RECORD,,
+jaxsim-0.2.1.dev70.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.2.1.dev70.dist-info/METADATA,sha256=4AdUyv7PhRO09XpEBc_79fG0MC-msgEQ-CnrstJesqA,9744
+jaxsim-0.2.1.dev70.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+jaxsim-0.2.1.dev70.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.2.1.dev70.dist-info/RECORD,,