jaxsim 0.2.1.dev98__py3-none-any.whl → 0.2.1.dev106__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.1.dev98'
-__version_tuple__ = version_tuple = (0, 2, 1, 'dev98')
+__version__ = version = '0.2.1.dev106'
+__version_tuple__ = version_tuple = (0, 2, 1, 'dev106')

jaxsim/api/common.py

@@ -87,7 +87,8 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
         array: jtp.Array,
         other_representation: VelRepr,
         transform: jtp.Matrix,
-        is_force: bool = False,
+        *,
+        is_force: bool,
     ) -> jtp.Array:
         r"""
         Convert a 6D quantity from inertial-fixed to another representation.
@@ -153,7 +154,8 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
         array: jtp.Array,
         other_representation: VelRepr,
         transform: jtp.Matrix,
-        is_force: bool = False,
+        *,
+        is_force: bool,
     ) -> jtp.Array:
         r"""
         Convert a 6D quantity from another representation to inertial-fixed.

jaxsim/api/model.py

@@ -338,6 +338,7 @@ def reduce(
     reduced_model = JaxSimModel.build(
         model_description=reduced_intermediate_description,
         model_name=model.name(),
+        terrain=model.terrain,
     )
 
     # Store the origin of the model, in case downstream logic needs it

jaxsim/api/ode.py

@@ -113,7 +113,7 @@ def system_velocity_dynamics(
     ).astype(float)
 
     # Build link forces if not provided
-    W_f_L = (
+    O_f_L = (
         jnp.atleast_2d(link_forces.squeeze())
         if link_forces is not None
         else jnp.zeros((model.number_of_links(), 6))
@@ -125,7 +125,7 @@ def system_velocity_dynamics(
 
     # Initialize the 6D forces W_f ∈ ℝ^{n_L × 6} applied to links due to contact
     # with the terrain.
-    W_f_Li_terrain = jnp.zeros_like(W_f_L).astype(float)
+    W_f_Li_terrain = jnp.zeros_like(O_f_L).astype(float)
 
     # Initialize the 6D contact forces W_f ∈ ℝ^{n_c × 6} applied to collidable points,
     # expressed in the world frame.
@@ -183,7 +183,7 @@ def system_velocity_dynamics(
 
         # Compute the joint friction torque
         τ_friction = -(
-            jnp.diag(kc) @ jnp.sign(data.state.physics_model.joint_positions)
+            jnp.diag(kc) @ jnp.sign(data.state.physics_model.joint_velocities)
             + jnp.diag(kv) @ data.state.physics_model.joint_velocities
         )
 
@@ -194,6 +194,17 @@ def system_velocity_dynamics(
     # Compute the total joint forces
     τ_total = τ + τ_friction + τ_position_limit
 
+    references = js.references.JaxSimModelReferences.build(
+        model=model,
+        joint_force_references=τ_total,
+        link_forces=O_f_L,
+        data=data,
+        velocity_representation=data.velocity_representation,
+    )
+
+    with references.switch_velocity_representation(VelRepr.Inertial):
+        W_f_L = references.link_forces(model=model, data=data)
+
     # Compute the total external 6D forces applied to the links
     W_f_L_total = W_f_L + W_f_Li_terrain
 

{jaxsim-0.2.1.dev98.dist-info → jaxsim-0.2.1.dev106.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.1.dev98
+Version: 0.2.1.dev106
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.2.1.dev98.dist-info → jaxsim-0.2.1.dev106.dist-info}/RECORD

@@ -1,18 +1,18 @@
 jaxsim/__init__.py,sha256=OcrfoYS1DGcmAGqu2AqlCTiUVxcpi-IsVwcr_16x74Q,1789
-jaxsim/_version.py,sha256=PlgYXFRQrTcDBWrHgW3TWsyD0WOKMdyNQ1dtp2gm-oU,426
+jaxsim/_version.py,sha256=ITDD6-dbYrg7qVZHEtxWcXvTK9rJ32AKGCK3jurpnKQ,428
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=MeuOCQtLAr-sPkvB_sU8FtwGNRirz1auCwIgRC-QZl8,646
 jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
 jaxsim/api/com.py,sha256=Yof6otFi-mLWAs1rqjmeNJTOWIH9gn7BdU5EIjiL6Ts,13481
-jaxsim/api/common.py,sha256=DV-WZG28sikXopNv458aYvpLjmiAtFr5LRscOwXusuk,6640
+jaxsim/api/common.py,sha256=bqQ__pIQZbh-j8rkoHUkYHAgGiJnDzjHG-q4Ny0OOYQ,6646
 jaxsim/api/contact.py,sha256=Cvr-EfQtHP3nymtWdo-9WWU24Bkta-2Pp3nKsdjo6uc,12778
 jaxsim/api/data.py,sha256=xfKJz6Rw0YTk-EHCGiT8BFQrs_ggOz01lRi1Qh1mb28,27256
 jaxsim/api/frame.py,sha256=0YXOrGmx3cSQqa4_Ky-n6zyup3I3xvXNEgub-Bc5xUw,6222
 jaxsim/api/joint.py,sha256=-5DogPg4g4mmLckyVIVNjwv-Rxz0IWS7_md9nDlhPWA,4581
 jaxsim/api/kin_dyn_parameters.py,sha256=zMca7OmCsCWK_cavLTSZSeYh9Qu1-409cdsyWvWPAUQ,26090
 jaxsim/api/link.py,sha256=rypTwkMf9HJ5UuAtHRJh0LqqdJWcLKTtTjWcjduEsF0,9842
-jaxsim/api/model.py,sha256=Wwg3Wp9jm2Ah7wjvzou7oZYdZk2iTlfzSidp6GNwfJ0,54263
-jaxsim/api/ode.py,sha256=6l-6i2YHagsQvR8Ac-_fmO6P0hBVT6NkHhwXnrdITEg,9785
+jaxsim/api/model.py,sha256=Ii17tBzCkMHCa_G7plKPzNcW-bj3QGuGI9jCklPQStM,54294
+jaxsim/api/ode.py,sha256=BfvV_14uu0szWecoDiV8rTu-dvSFLK7eyrO38ZqHB_w,10157
 jaxsim/api/ode_data.py,sha256=D6FzMkvY_qNuoFEImyp7sxAk-0pJOd3oZeSr9bBTcLk,23089
 jaxsim/api/references.py,sha256=Lvskf17r619KKxwCJP7hAAty2kaXgDXJX1uKqoDIDgo,15483
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
@@ -58,8 +58,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=h26timZ_XrBL_Q_oymv-DkQd-EcUiHn8QexAaZXBY9c,11396
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=EJMcblYKUjxw9HJShVf81Ig3pHUJno6Dx6h-RnY--wM,2040
-jaxsim-0.2.1.dev98.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.2.1.dev98.dist-info/METADATA,sha256=_aAfq6LooqjTyZY6utw1p0NrkwVZr10NC9Gw-MqCR1Y,9744
-jaxsim-0.2.1.dev98.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-jaxsim-0.2.1.dev98.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.2.1.dev98.dist-info/RECORD,,
+jaxsim-0.2.1.dev106.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.2.1.dev106.dist-info/METADATA,sha256=hyAYbI27iEsSMF31Xv4HXSuvgSghYQE2S6vWNNlEuJk,9745
+jaxsim-0.2.1.dev106.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+jaxsim-0.2.1.dev106.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.2.1.dev106.dist-info/RECORD,,