jaxsim 0.3.1.dev51__py3-none-any.whl → 0.3.1.dev56__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.3.1.dev51'
-__version_tuple__ = version_tuple = (0, 3, 1, 'dev51')
+__version__ = version = '0.3.1.dev56'
+__version_tuple__ = version_tuple = (0, 3, 1, 'dev56')

jaxsim/api/ode.py

@@ -150,14 +150,11 @@ def system_velocity_dynamics(
         # Sum the forces of all collidable points rigidly attached to a body.
         # Since the contact forces W_f_Ci are expressed in the world frame,
         # we don't need any coordinate transformation.
-        W_f_Li_terrain = jax.vmap(
-            lambda nc: (
-                jnp.vstack(
-                    jnp.equal(parent_link_index_of_collidable_points, nc).astype(int)
-                )
-                * W_f_Ci
-            ).sum(axis=0)
-        )(jnp.arange(model.number_of_links()))
+        mask = parent_link_index_of_collidable_points[:, jnp.newaxis] == jnp.arange(
+            model.number_of_links()
+        )
+
+        W_f_Li_terrain = mask.T @ W_f_Ci
 
     # ====================
     # Enforce joint limits

{jaxsim-0.3.1.dev51.dist-info → jaxsim-0.3.1.dev56.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev51
+Version: 0.3.1.dev56
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

{jaxsim-0.3.1.dev51.dist-info → jaxsim-0.3.1.dev56.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=xzuTuZrgKdWLqqDzbvqzm2cJrEtAbepOeUqDu7ByVek,2621
-jaxsim/_version.py,sha256=IGT0sukgd0adIU8Kj5QFc30r0PeT_NCk5YVNZH5UbRg,426
+jaxsim/_version.py,sha256=_vPPrp0WjeOIaCNwF_YnKzvImousch-Bv7JxX2qVu-o,426
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=cl7HHQCeP3mHmtF6EuQZcCjGvDmc_AryMWntP_lRBGg,722
@@ -13,7 +13,7 @@ jaxsim/api/joint.py,sha256=Pvg_It2iYA-jAQ2nOlFZxwmITiozO_f46G13BdQtHQ0,5106
 jaxsim/api/kin_dyn_parameters.py,sha256=AEpDg9kihbKUN9PA8pNrAruSuWFUC-k_GGxtlcdcDiQ,29215
 jaxsim/api/link.py,sha256=edXaNO0TcqyFyMOlIlCnReQK_VP8p38crLEp0of7mWo,18404
 jaxsim/api/model.py,sha256=G4tlJ0mkpH_v31ZPObBSeTqaioYJpdfapmIG7-FyWe8,61424
-jaxsim/api/ode.py,sha256=xQL53ppnKweMQWRNm5gGR8FTjqRVzds8WKg9js9k5TA,10780
+jaxsim/api/ode.py,sha256=agj6jF_bMZt56wIWfJ5gQOgRNKU5SvljGfFdQ0H4A5U,10663
 jaxsim/api/ode_data.py,sha256=Sa2i1zZhqyQqIGv1jarTmmU-W9HhTw-DErs12kFA1GA,19737
 jaxsim/api/references.py,sha256=UA6kSQVBoq-bXSo99EOELf-_MD5MTy2zS0GtG3wQ410,16618
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
@@ -61,8 +61,8 @@ 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=QIJitSoljrKR_U4T3ewCJPT3DTh-tPZsRsg0t_MH93E,3896
-jaxsim-0.3.1.dev51.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.3.1.dev51.dist-info/METADATA,sha256=zbBiTRoZ6XIJvJcq8UTkHhvGOc7krPxFpxDqz5_oJ_A,9739
-jaxsim-0.3.1.dev51.dist-info/WHEEL,sha256=cpQTJ5IWu9CdaPViMhC9YzF8gZuS5-vlfoFihTBC86A,91
-jaxsim-0.3.1.dev51.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.3.1.dev51.dist-info/RECORD,,
+jaxsim-0.3.1.dev56.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.3.1.dev56.dist-info/METADATA,sha256=z1LxODuJ9t-wPS3q_cc2kEnH8E8e8R-arIkmnbzgI20,9739
+jaxsim-0.3.1.dev56.dist-info/WHEEL,sha256=cpQTJ5IWu9CdaPViMhC9YzF8gZuS5-vlfoFihTBC86A,91
+jaxsim-0.3.1.dev56.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.3.1.dev56.dist-info/RECORD,,