jaxsim 0.2.dev101__py3-none-any.whl → 0.2.dev166__py3-none-any.whl

jaxsim/mujoco/loaders.py

@@ -387,30 +387,42 @@ class RodModelToMjcf:
             dir="0 0 -1",
         )
 
+        # -------------------------------------------------------
+        # Add a camera following the CoM of the worldbody element
+        # -------------------------------------------------------
+
+        worldbody_element = None
+
+        # Find the <worldbody> element of our model by searching the one that contains
+        # all the considered joints. This is needed because there might be multiple
+        # <worldbody> elements inside <mujoco>.
+        for wb in mujoco_element.findall(".//worldbody"):
+            if all(
+                wb.find(f".//joint[@name='{j}']") is not None for j in considered_joints
+            ):
+                worldbody_element = wb
+                break
+
+        if worldbody_element is None:
+            raise RuntimeError("Failed to find the <worldbody> element of the model")
+
+        # Camera attached to the model
+        _ = ET.SubElement(
+            worldbody_element,
+            "camera",
+            name="track",
+            mode="trackcom",
+            pos="1 0 5",
+            zaxis="0 0 1",
+            fovy="60",
+        )
+
         # ------------------------------------------------
         # Add a light following the  CoM of the first link
         # ------------------------------------------------
 
         if not rod_model.is_fixed_base():
 
-            worldbody_element = None
-
-            # Find the <worldbody> element of our model by searching the one that contains
-            # all the considered joints. This is needed because there might be multiple
-            # <worldbody> elements inside <mujoco>.
-            for wb in mujoco_element.findall(".//worldbody"):
-                if all(
-                    wb.find(f".//joint[@name='{j}']") is not None
-                    for j in considered_joints
-                ):
-                    worldbody_element = wb
-                    break
-
-            if worldbody_element is None:
-                raise RuntimeError(
-                    "Failed to find the <worldbody> element of the model"
-                )
-
             # Light attached to the model
             _ = ET.SubElement(
                 worldbody_element,

jaxsim/mujoco/visualizer.py

@@ -54,14 +54,16 @@ class MujocoVideoRecorder:
 
     def render_frame(self, camera_name: str | None = None) -> npt.NDArray:
         """"""
+        camera_name = camera_name or "track"
 
         mujoco.mj_forward(self.model, self.data)
-        self.renderer.update_scene(data=self.data)  # TODO camera name
+        self.renderer.update_scene(data=self.data, camera=camera_name)
 
         return self.renderer.render()
 
     def record_frame(self, camera_name: str | None = None) -> None:
         """"""
+        camera_name = camera_name or "track"
 
         frame = self.render_frame(camera_name=camera_name)
         self.frames.append(frame)

jaxsim/physics/algos/soft_contacts.py

@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 import dataclasses
 from typing import Tuple
 
@@ -13,38 +15,67 @@ from jaxsim.math.adjoint import Adjoint
 from jaxsim.math.skew import Skew
 from jaxsim.physics.algos.terrain import FlatTerrain, Terrain
 from jaxsim.physics.model.physics_model import PhysicsModel
+from jaxsim.utils.jaxsim_dataclass import JaxsimDataclass
 
 from . import utils
 
 
 @jax_dataclasses.pytree_dataclass
-class SoftContactsState:
+class SoftContactsState(JaxsimDataclass):
     """
     State of the soft contacts model.
 
     Attributes:
-        tangential_deformation (jtp.Matrix): The tangential deformation of the material at each collidable point.
+        tangential_deformation:
+            The tangential deformation of the material at each collidable point.
     """
 
     tangential_deformation: jtp.Matrix
 
+    @staticmethod
+    def build(
+        tangential_deformation: jtp.Matrix | None = None,
+        number_of_collidable_points: int | None = None,
+    ) -> SoftContactsState:
+        """"""
+
+        tangential_deformation = (
+            tangential_deformation
+            if tangential_deformation is not None
+            else jnp.zeros(shape=(3, number_of_collidable_points))
+        )
+
+        return SoftContactsState(
+            tangential_deformation=jnp.array(tangential_deformation, dtype=float)
+        )
+
+    @staticmethod
+    def build_from_physics_model(
+        tangential_deformation: jtp.Matrix | None = None,
+        physics_model: jaxsim.physics.model.physics_model.PhysicsModel | None = None,
+    ) -> SoftContactsState:
+        """"""
+
+        return SoftContactsState.build(
+            tangential_deformation=tangential_deformation,
+            number_of_collidable_points=physics_model.gc.body.size,
+        )
+
     @staticmethod
     def zero(
         physics_model: jaxsim.physics.model.physics_model.PhysicsModel,
-    ) -> "SoftContactsState":
+    ) -> SoftContactsState:
         """
         Modify the SoftContactsState instance imposing zero tangential deformation.
 
         Args:
-            physics_model (jaxsim.physics.model.physics_model.PhysicsModel): The physics model.
+            physics_model: The physics model.
 
         Returns:
-            SoftContactsState: A SoftContactsState instance with zero tangential deformation.
+            A SoftContactsState instance with zero tangential deformation.
         """
 
-        return SoftContactsState(
-            tangential_deformation=jnp.zeros(shape=(3, physics_model.gc.body.size))
-        )
+        return SoftContactsState.build_from_physics_model(physics_model=physics_model)
 
     def valid(
         self, physics_model: jaxsim.physics.model.physics_model.PhysicsModel
@@ -53,10 +84,10 @@ class SoftContactsState:
         Check if the soft contacts state has valid shape.
 
         Args:
-            physics_model (jaxsim.physics.model.physics_model.PhysicsModel): The physics model.
+            physics_model: The physics model.
 
         Returns:
-            bool: True if the state has a valid shape, otherwise False.
+            True if the state has a valid shape, otherwise False.
         """
 
         from jaxsim.simulation.utils import check_valid_shape
@@ -68,22 +99,6 @@ class SoftContactsState:
             valid=True,
         )
 
-    def replace(self, validate: bool = True, **kwargs) -> "SoftContactsState":
-        """
-        Replace attributes of the soft contacts state.
-
-        Args:
-            validate (bool, optional): Whether to validate the state after replacement. Defaults to True.
-
-        Returns:
-            SoftContactsState: A new SoftContactsState instance with replaced attributes.
-        """
-
-        with jax_dataclasses.copy_and_mutate(self, validate=validate) as updated_state:
-            _ = [updated_state.__setattr__(k, v) for k, v in kwargs.items()]
-
-        return updated_state
-
 
 def collidable_points_pos_vel(
     model: PhysicsModel,
@@ -238,8 +253,8 @@ class SoftContactsParams:
 
     @staticmethod
     def build(
-        K: float = 1e6, D: float = 2_000, mu: float = 0.5
-    ) -> "SoftContactsParams":
+        K: jtp.FloatLike = 1e6, D: jtp.FloatLike = 2_000, mu: jtp.FloatLike = 0.5
+    ) -> SoftContactsParams:
         """
         Create a SoftContactsParams instance with specified parameters.
 
@@ -258,6 +273,60 @@ class SoftContactsParams:
             mu=jnp.array(mu, dtype=float),
         )
 
+    @staticmethod
+    def build_default_from_physics_model(
+        physics_model: PhysicsModel,
+        static_friction_coefficient: jtp.FloatLike = 0.5,
+        max_penetration: jtp.FloatLike = 0.001,
+        number_of_active_collidable_points_steady_state: jtp.IntLike = 1,
+        damping_ratio: jtp.FloatLike = 1.0,
+    ) -> SoftContactsParams:
+        """
+        Create a SoftContactsParams instance with good default parameters.
+
+        Args:
+            physics_model: The target physics model.
+            static_friction_coefficient: The static friction coefficient.
+            max_penetration: The maximum penetration depth.
+            number_of_active_collidable_points_steady_state: The number of contacts
+                supporting the weight of the model in steady state.
+            damping_ratio: The ratio controlling the damping behavior.
+
+        Returns:
+            A SoftContactsParams instance with the specified parameters.
+
+        Note:
+            The `damping_ratio` parameter allows to operate on the following conditions:
+            - ξ > 1.0: over-damped
+            - ξ = 1.0: critically damped
+            - ξ < 1.0: under-damped
+        """
+
+        # Use symbols for input parameters
+        ξ = damping_ratio
+        δ_max = max_penetration
+        μc = static_friction_coefficient
+
+        # Compute the total mass of the model
+        m = jnp.array(
+            [l.mass for l in physics_model.description.links_dict.values()]
+        ).sum()
+
+        # Extract gravity
+        g = -physics_model.gravity[0:3][-1]
+
+        # Compute the average support force on each collidable point
+        f_average = m * g / number_of_active_collidable_points_steady_state
+
+        # Compute the stiffness to get the desired steady-state penetration
+        K = f_average / jnp.power(δ_max, 3 / 2)
+
+        # Compute the damping using the damping ratio
+        critical_damping = 2 * jnp.sqrt(K * m)
+        D = ξ * critical_damping
+
+        return SoftContactsParams.build(K=K, D=D, mu=μc)
+
 
 @jax_dataclasses.pytree_dataclass
 class SoftContacts:

jaxsim/physics/model/physics_model.py

@@ -70,11 +70,41 @@ class PhysicsModel(JaxsimDataclass):
         default_factory=dict
     )
 
+    _link_masses: jtp.Vector = dataclasses.field(init=False)
+    _link_spatial_inertias: jtp.Vector = dataclasses.field(init=False)
+    _joint_position_limits_min: jtp.Matrix = dataclasses.field(init=False)
+    _joint_position_limits_max: jtp.Matrix = dataclasses.field(init=False)
+
     def __post_init__(self):
         if self.initial_state is None:
             initial_state = PhysicsModelState.zero(physics_model=self)
             object.__setattr__(self, "initial_state", initial_state)
 
+        ordered_links = sorted(
+            list(self.description.links_dict.values()),
+            key=lambda l: l.index,
+        )
+
+        ordered_joints = sorted(
+            list(self.description.joints_dict.values()),
+            key=lambda j: j.index,
+        )
+
+        from jaxsim.utils import Mutability
+
+        with self.mutable_context(
+            mutability=Mutability.MUTABLE_NO_VALIDATION, restore_after_exception=False
+        ):
+            self._link_masses = jnp.stack([link.mass for link in ordered_links])
+            self._link_spatial_inertias = jnp.stack(
+                [self._link_inertias_dict[l.index] for l in ordered_links]
+            )
+
+            s_min = jnp.hstack([j.position_limit[0] for j in ordered_joints])
+            s_max = jnp.hstack([j.position_limit[1] for j in ordered_joints])
+            self._joint_position_limits_min = jnp.vstack([s_min, s_max]).min(axis=0)
+            self._joint_position_limits_max = jnp.vstack([s_min, s_max]).max(axis=0)
+
     @staticmethod
     def build_from(
         model_description: jaxsim.parsers.descriptions.model.ModelDescription,

jaxsim/physics/model/physics_model_state.py

@@ -1,3 +1,5 @@
+from typing import Union
+
 import jax.numpy as jnp
 import jax_dataclasses
 
@@ -41,14 +43,86 @@ class PhysicsModelState(JaxsimDataclass):
         default_factory=lambda: jnp.zeros(3)
     )
 
+    @staticmethod
+    def build(
+        joint_positions: jtp.Vector | None = None,
+        joint_velocities: jtp.Vector | None = None,
+        base_position: jtp.Vector | None = None,
+        base_quaternion: jtp.Vector | None = None,
+        base_linear_velocity: jtp.Vector | None = None,
+        base_angular_velocity: jtp.Vector | None = None,
+        number_of_dofs: jtp.Int | None = None,
+    ) -> "PhysicsModelState":
+        """"""
+
+        joint_positions = (
+            joint_positions
+            if joint_positions is not None
+            else jnp.zeros(number_of_dofs)
+        )
+
+        joint_velocities = (
+            joint_velocities
+            if joint_velocities is not None
+            else jnp.zeros(number_of_dofs)
+        )
+
+        base_position = base_position if base_position is not None else jnp.zeros(3)
+
+        base_quaternion = (
+            base_quaternion
+            if base_quaternion is not None
+            else jnp.array([1.0, 0, 0, 0])
+        )
+
+        base_linear_velocity = (
+            base_linear_velocity if base_linear_velocity is not None else jnp.zeros(3)
+        )
+
+        base_angular_velocity = (
+            base_angular_velocity if base_angular_velocity is not None else jnp.zeros(3)
+        )
+
+        physics_model_state = PhysicsModelState(
+            joint_positions=jnp.array(joint_positions, dtype=float),
+            joint_velocities=jnp.array(joint_velocities, dtype=float),
+            base_position=jnp.array(base_position, dtype=float),
+            base_quaternion=jnp.array(base_quaternion, dtype=float),
+            base_linear_velocity=jnp.array(base_linear_velocity, dtype=float),
+            base_angular_velocity=jnp.array(base_angular_velocity, dtype=float),
+        )
+
+        return physics_model_state
+
+    @staticmethod
+    def build_from_physics_model(
+        joint_positions: jtp.Vector | None = None,
+        joint_velocities: jtp.Vector | None = None,
+        base_position: jtp.Vector | None = None,
+        base_quaternion: jtp.Vector | None = None,
+        base_linear_velocity: jtp.Vector | None = None,
+        base_angular_velocity: jtp.Vector | None = None,
+        physics_model: Union[
+            "jaxsim.physics.model.physics_model.PhysicsModel", None
+        ] = None,
+    ) -> "PhysicsModelState":
+        """"""
+
+        return PhysicsModelState.build(
+            joint_positions=joint_positions,
+            joint_velocities=joint_velocities,
+            base_position=base_position,
+            base_quaternion=base_quaternion,
+            base_linear_velocity=base_linear_velocity,
+            base_angular_velocity=base_angular_velocity,
+            number_of_dofs=physics_model.dofs(),
+        )
+
     @staticmethod
     def zero(
         physics_model: "jaxsim.physics.model.physics_model.PhysicsModel",
     ) -> "PhysicsModelState":
-        return PhysicsModelState(
-            joint_positions=jnp.zeros(physics_model.dofs()),
-            joint_velocities=jnp.zeros(physics_model.dofs()),
-        )
+        return PhysicsModelState.build_from_physics_model(physics_model=physics_model)
 
     def position(self) -> jtp.Vector:
         return jnp.hstack(
@@ -143,16 +217,41 @@ class PhysicsModelInput(JaxsimDataclass):
     f_ext: jtp.MatrixJax
 
     @staticmethod
-    def zero(
-        physics_model: "jaxsim.physics.model.physics_model.PhysicsModel",
+    def build(
+        tau: jtp.VectorJax | None = None,
+        f_ext: jtp.MatrixJax | None = None,
+        number_of_dofs: jtp.Int | None = None,
+        number_of_links: jtp.Int | None = None,
     ) -> "PhysicsModelInput":
-        ode_input = PhysicsModelInput(
-            tau=jnp.zeros(physics_model.dofs()),
-            f_ext=jnp.zeros(shape=(physics_model.NB, 6)),
+        """"""
+
+        tau = tau if tau is not None else jnp.zeros(number_of_dofs)
+        f_ext = f_ext if f_ext is not None else jnp.zeros(shape=(number_of_links, 6))
+
+        return PhysicsModelInput(
+            tau=jnp.array(tau, dtype=float), f_ext=jnp.array(f_ext, dtype=float)
         )
 
-        assert ode_input.valid(physics_model)
-        return ode_input
+    @staticmethod
+    def build_from_physics_model(
+        tau: jtp.VectorJax | None = None,
+        f_ext: jtp.MatrixJax | None = None,
+        physics_model: Union[
+            "jaxsim.physics.model.physics_model.PhysicsModel", None
+        ] = None,
+    ) -> "PhysicsModelInput":
+        return PhysicsModelInput.build(
+            tau=tau,
+            f_ext=f_ext,
+            number_of_dofs=physics_model.dofs(),
+            number_of_links=physics_model.NB,
+        )
+
+    @staticmethod
+    def zero(
+        physics_model: "jaxsim.physics.model.physics_model.PhysicsModel",
+    ) -> "PhysicsModelInput":
+        return PhysicsModelInput.build_from_physics_model(physics_model=physics_model)
 
     def replace(self, validate: bool = True, **kwargs) -> "PhysicsModelInput":
         with jax_dataclasses.copy_and_mutate(self, validate=validate) as updated_input:

jaxsim/simulation/ode_data.py

@@ -13,8 +13,25 @@ from jaxsim.utils import JaxsimDataclass
 
 @jax_dataclasses.pytree_dataclass
 class ODEInput(JaxsimDataclass):
+    """"""
+
     physics_model: PhysicsModelInput
 
+    @staticmethod
+    def build(
+        physics_model_input: PhysicsModelInput | None = None,
+        physics_model: PhysicsModel | None = None,
+    ) -> "ODEInput":
+        """"""
+
+        physics_model_input = (
+            physics_model_input
+            if physics_model_input is not None
+            else PhysicsModelInput.zero(physics_model=physics_model)
+        )
+
+        return ODEInput(physics_model=physics_model_input)
+
     @staticmethod
     def zero(physics_model: PhysicsModel) -> "ODEInput":
         return ODEInput(
@@ -27,9 +44,35 @@ class ODEInput(JaxsimDataclass):
 
 @jax_dataclasses.pytree_dataclass
 class ODEState(JaxsimDataclass):
+    """"""
+
     physics_model: PhysicsModelState
     soft_contacts: SoftContactsState
 
+    @staticmethod
+    def build(
+        physics_model_state: PhysicsModelState | None = None,
+        soft_contacts_state: SoftContactsState | None = None,
+        physics_model: PhysicsModel | None = None,
+    ) -> "ODEState":
+        """"""
+
+        physics_model_state = (
+            physics_model_state
+            if physics_model_state is not None
+            else PhysicsModelState.zero(physics_model=physics_model)
+        )
+
+        soft_contacts_state = (
+            soft_contacts_state
+            if soft_contacts_state is not None
+            else SoftContactsState.zero(physics_model=physics_model)
+        )
+
+        return ODEState(
+            physics_model=physics_model_state, soft_contacts=soft_contacts_state
+        )
+
     @staticmethod
     def deserialize(data: jtp.VectorJax, physics_model: PhysicsModel) -> "ODEState":
         dummy_object = ODEState.zero(physics_model=physics_model)

{jaxsim-0.2.dev101.dist-info → jaxsim-0.2.dev166.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev101
+Version: 0.2.dev166
 Summary: A physics engine in reduced coordinates implemented with JAX.
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
@@ -37,6 +37,7 @@ Requires-Dist: jaxlie >=1.3.0
 Requires-Dist: jax-dataclasses >=1.4.0
 Requires-Dist: pptree
 Requires-Dist: rod
+Requires-Dist: typing-extensions ; python_version < "3.12"
 Provides-Extra: all
 Requires-Dist: black[jupyter] ; extra == 'all'
 Requires-Dist: isort ; extra == 'all'

{jaxsim-0.2.dev101.dist-info → jaxsim-0.2.dev166.dist-info}/RECORD

@@ -1,12 +1,22 @@
 jaxsim/__init__.py,sha256=acqCVEg71ekNOwazlwA06dXeaPJh3Sr_e5JB8pcI5lo,1862
-jaxsim/_version.py,sha256=oXgZECWd3fseX5CX5Swp9v5oWnBHpLqfTMn92b-KCSo,423
+jaxsim/_version.py,sha256=vMokvYrBBPOrgLnCCWan0F7wQryZEpd6JLhmzbRqgM4,423
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=ErTscpEljFyrhPCisZnLEUt6FWLAuEAh-72Teb8Nz98,626
+jaxsim/api/__init__.py,sha256=UehgJtcV9BYlX6vec-f_IgnMcq-F9BU_STsR0RDjEjA,53
+jaxsim/api/contact.py,sha256=CXRTALb-3j9rbFkLWjbqKWmIIvnhShGD708wc132GcE,5942
+jaxsim/api/data.py,sha256=R0hQUa5Gvdv-mkeONGPxEezsMtRogh820SBOv4ibS90,31195
+jaxsim/api/joint.py,sha256=J65MgjMzp2O980wIEf2TxG_VCgczUsexGgd4YJ6rxiE,3615
+jaxsim/api/link.py,sha256=Fpbtr2JF9fAouOX-lGAmajF2ZEz6q8ttDYsCiqpLxEk,6939
+jaxsim/api/model.py,sha256=8m90nydtDQhA3xVpV0iG23p3t5XgcVSwPzxh2cVCZEY,33143
+jaxsim/api/ode.py,sha256=cbWrXe7s5O3UCpWpI77Lg8Pujr_SiaQfLc7ELBqnJQM,9492
 jaxsim/high_level/__init__.py,sha256=aWYBCsYmEO76Qt4GEi91Hye_ifGFLvc_bpy9OQplz2o,69
 jaxsim/high_level/common.py,sha256=6nyRlFsNOLEy5JvLH70VPWeHGSL_ZKNxX3Q62ccqSuY,196
 jaxsim/high_level/joint.py,sha256=0WF0QWkZzP0SXw0QYpn3PAwdZq0_uXFr2_f1OATiOBA,4089
 jaxsim/high_level/link.py,sha256=4kcBMh-3w9c-fkTYm3_sXfdwd3NwUm7jKf5BjwEge94,8010
 jaxsim/high_level/model.py,sha256=q29hSs0gH_UQrUyVzuCyF9YRB79WEWyHcVvV_1B9LrA,57054
+jaxsim/integrators/__init__.py,sha256=x4kYr7k-nC0X7HH2bTXzGOl_3B9TBN9blw5BBxQtyQ0,72
+jaxsim/integrators/common.py,sha256=kL4EqUjWZUNPtDrCcrStx-ZTxEYDS-W2WPQ0g-QqHqs,17567
+jaxsim/integrators/fixed_step.py,sha256=_gChRm0RHjDtst-aWjyQKUys6TyYhZqdWap7vLf5LaE,4291
 jaxsim/math/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/math/adjoint.py,sha256=ImkOkWHQKMukBprLTsOPpSuqb1NNPA3_t447zRVo79s,3779
 jaxsim/math/conv.py,sha256=jbr9MU_vGtTpLTQpbqwAT4huF51skCfORFUBmKSdlaI,3138
@@ -17,11 +27,11 @@ jaxsim/math/plucker.py,sha256=44NvKVbcZoG8ivFN1BeXxDpuSFdEre1Q6ZXvhnmIiPY,2282
 jaxsim/math/quaternion.py,sha256=ToyRnAWU0JvKSSSX2vaJeSw2lMa5BGU72DjtonOUw0k,3685
 jaxsim/math/rotation.py,sha256=MHOnrpS5Sf4rszhOpZ8w7qXFkEl7UMltYimqqsuYuuU,2187
 jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
-jaxsim/mujoco/__init__.py,sha256=1g0HCsI_h1sxVPY41JNItdTUynnUskHQZ3SpUaD_N5k,137
+jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=Cd9ee_hjKMHoVaHiJj8JADqpEVmkyYkqSTP1gBeXvFs,16047
+jaxsim/mujoco/loaders.py,sha256=8sXc_tsDFWBYl8nesgFarYd3hA-PESLMrXsnR3Siz1Y,16400
 jaxsim/mujoco/model.py,sha256=0kG2GERxjVFqWZ1K3352rgUNfchB4kRtIrsvv4pS4oc,10766
-jaxsim/mujoco/visualizer.py,sha256=wFDFafQVeHsf62g-vXijR8wLJxV7VItgWaqNWB2LjKY,4310
+jaxsim/mujoco/visualizer.py,sha256=-qg26t5tleTva6zzQmc5SdnlC8XZ1ZAwZ_lDjdwHJ0A,4400
 jaxsim/parsers/__init__.py,sha256=sonYi-bBWAoB04kp1mxT4uIORxjb7SdZ0ukGPmVx98Y,44
 jaxsim/parsers/kinematic_graph.py,sha256=5wQnbzu8JE0bbnLRxK4ZsD_gQ9kbBpYbhUSzCMiNWko,23610
 jaxsim/parsers/descriptions/__init__.py,sha256=EbTfnrK3oCxA3pNv--YUwllJ6uICENvFgAdRbYtS9ts,238
@@ -41,17 +51,17 @@ jaxsim/physics/algos/forward_kinematics.py,sha256=myiqBGk5Nv-OIJpkNFVOby2FdHEJM3
 jaxsim/physics/algos/jacobian.py,sha256=HQk7UBYwWr2_qIYZBil_t9nqoL-TQB8hi-JHdPcSA0g,3166
 jaxsim/physics/algos/rnea.py,sha256=bIv6TTwdCZVj_s9Fd5i_ZTMib4W2_sn8gxCbMRrzRcg,5322
 jaxsim/physics/algos/rnea_motors.py,sha256=gaiEAOfpw9kZBVImfNKKwpgIgM8eygVu--wszh3npJc,5684
-jaxsim/physics/algos/soft_contacts.py,sha256=4a0IK__KWzfWDUVMMzYwmEtkzZHx3taqcs26FYN7RZw,16079
+jaxsim/physics/algos/soft_contacts.py,sha256=mPNs5a3JAZ5dRTWbNMhZNV57UyYxQTqjRQXGA5pk3II,18424
 jaxsim/physics/algos/terrain.py,sha256=Gw9-1AjU4c4Yd2xzo0i-fgWwYlroj03TjScJsz_2m9o,2228
 jaxsim/physics/algos/utils.py,sha256=0OiELbXtv5Jink3l-vMK_OGHgGkZ_wTAAclcd7vDKoc,2230
 jaxsim/physics/model/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/physics/model/ground_contact.py,sha256=mva-yDzYHREmgUu8jGJmIAsf66_SF6ZISmN-XQQ9Ktw,1924
-jaxsim/physics/model/physics_model.py,sha256=kVTIaJQrxALzyWjWrDLnwDOcxmzaPGSpUOS8BCq-g6M,13249
-jaxsim/physics/model/physics_model_state.py,sha256=LTC-uqUCP1-7-mLHMa6aY4xfBYWuHIextxDH0EEqEmE,5729
+jaxsim/physics/model/physics_model.py,sha256=Lys3VTy2ypUbN_71h0DjUzKbEz7netgRfd_mNuy5Z5Y,14531
+jaxsim/physics/model/physics_model_state.py,sha256=Av42rJWgicqxDmZZu1T_clpnmeaX_daASYhA7cxHYxQ,9256
 jaxsim/simulation/__init__.py,sha256=WOWkzq7rMGa4xWvjNqTYtD0Nl4yLQtULGW1xU7hD9m0,182
 jaxsim/simulation/integrators.py,sha256=WIlL7xi4UocSlWg4Qms8-6puqRYnK5A4r7TJUNPg5g0,13022
 jaxsim/simulation/ode.py,sha256=ntq_iQPIw3SHj64CZWD2mHAKmt05ZgRpw2UwyTxHDOQ,10380
-jaxsim/simulation/ode_data.py,sha256=spzHU5LnOL6mJPuuhho-J61koT-bcTRonqMMkiPo3M4,1750
+jaxsim/simulation/ode_data.py,sha256=5nPynNSC5tRnhAVwOCkdv6FrDn148bC7zZaqVCKgowM,2952
 jaxsim/simulation/ode_integration.py,sha256=VDprQYoHEE_iI7ia1Mm3RyYl-LRvHU8dJEvRoGA4TFA,1947
 jaxsim/simulation/simulator.py,sha256=qCI5QG0WKkBC5GNqauSvI7rSlGD7CLttTzCgLED7iJM,18123
 jaxsim/simulation/simulator_callbacks.py,sha256=QWdY7dilmjrxeieWCB6RQ-cWpwLuUOK8fYWXpnnBcyU,2217
@@ -62,8 +72,8 @@ jaxsim/utils/jaxsim_dataclass.py,sha256=FbjfEoCoYC_F-M3wUggXiEhQ7MMS-V_ciYQca-uS
 jaxsim/utils/oop.py,sha256=LQhBXkSOD0zgYNJLO7Bl0FPRg-LvtvPzxyQa1WFP0rM,22616
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/vmappable.py,sha256=NqGL9nGFRI5OorCfnjXsjR_yXigzDxL0lW1YhQ_nMTY,3655
-jaxsim-0.2.dev101.dist-info/LICENSE,sha256=EsU2z6_sWW4Zduzq3goVWjZoCZVKQsM4H_y0o7oRA7Q,1547
-jaxsim-0.2.dev101.dist-info/METADATA,sha256=C9OglsF5_QiXcgmEb8PT6M-8X0OSJN0e9PocR1wjQ-o,7675
-jaxsim-0.2.dev101.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
-jaxsim-0.2.dev101.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.2.dev101.dist-info/RECORD,,
+jaxsim-0.2.dev166.dist-info/LICENSE,sha256=EsU2z6_sWW4Zduzq3goVWjZoCZVKQsM4H_y0o7oRA7Q,1547
+jaxsim-0.2.dev166.dist-info/METADATA,sha256=_mCvtJJrBw5yxQsl47_64GcmfxMObN_GrPJ3mt3nGEo,7734
+jaxsim-0.2.dev166.dist-info/WHEEL,sha256=oiQVh_5PnQM0E3gPdiz09WCNmwiHDMaGer_elqB3coM,92
+jaxsim-0.2.dev166.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.2.dev166.dist-info/RECORD,,