jaxsim 0.3.1.dev56__py3-none-any.whl → 0.3.1.dev59__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/api/contact.py +9 -9
  3. {jaxsim-0.3.1.dev56.dist-info → jaxsim-0.3.1.dev59.dist-info}/METADATA +1 -1
  4. {jaxsim-0.3.1.dev56.dist-info → jaxsim-0.3.1.dev59.dist-info}/RECORD +7 -7
  5. {jaxsim-0.3.1.dev56.dist-info → jaxsim-0.3.1.dev59.dist-info}/LICENSE +0 -0
  6. {jaxsim-0.3.1.dev56.dist-info → jaxsim-0.3.1.dev59.dist-info}/WHEEL +0 -0
  7. {jaxsim-0.3.1.dev56.dist-info → jaxsim-0.3.1.dev59.dist-info}/top_level.txt +0 -0
jaxsim/_version.py CHANGED
@@ -12,5 +12,5 @@ __version__: str
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  __version_tuple__: VERSION_TUPLE
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  version_tuple: VERSION_TUPLE
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- __version__ = version = '0.3.1.dev56'
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- __version_tuple__ = version_tuple = (0, 3, 1, 'dev56')
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+ __version__ = version = '0.3.1.dev59'
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+ __version_tuple__ = version_tuple = (0, 3, 1, 'dev59')
jaxsim/api/contact.py CHANGED
@@ -351,17 +351,17 @@ def jacobian(
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  output_vel_repr if output_vel_repr is not None else data.velocity_representation
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  )
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- # For each collidable point, get the Jacobians of their parent link.
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+ # Compute the Jacobians of all links.
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+ W_J_WL = js.model.generalized_free_floating_jacobian(
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+ model=model, data=data, output_vel_repr=VelRepr.Inertial
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+ )
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+
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+ # Compute the contact Jacobian.
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  # In inertial-fixed output representation, the Jacobian of the parent link is also
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  # the Jacobian of the frame C implicitly associated with the collidable point.
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- W_J_WC = W_J_WL = jax.vmap(
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- lambda parent_link_idx: js.link.jacobian(
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- model=model,
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- data=data,
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- link_index=parent_link_idx,
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- output_vel_repr=VelRepr.Inertial,
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- )
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- )(jnp.array(model.kin_dyn_parameters.contact_parameters.body, dtype=int))
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+ W_J_WC = jax.vmap(lambda parent_link_idx: W_J_WL[parent_link_idx])(
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+ jnp.array(model.kin_dyn_parameters.contact_parameters.body, dtype=int)
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+ )
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  # Adjust the output representation.
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  match output_vel_repr:
{jaxsim-0.3.1.dev56.dist-info → jaxsim-0.3.1.dev59.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: jaxsim
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- Version: 0.3.1.dev56
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+ Version: 0.3.1.dev59
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  Home-page: https://github.com/ami-iit/jaxsim
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  Author: Diego Ferigo
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  Author-email: diego.ferigo@iit.it
{jaxsim-0.3.1.dev56.dist-info → jaxsim-0.3.1.dev59.dist-info}/RECORD RENAMED
@@ -1,12 +1,12 @@
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  jaxsim/__init__.py,sha256=xzuTuZrgKdWLqqDzbvqzm2cJrEtAbepOeUqDu7ByVek,2621
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- jaxsim/_version.py,sha256=_vPPrp0WjeOIaCNwF_YnKzvImousch-Bv7JxX2qVu-o,426
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+ jaxsim/_version.py,sha256=9RBh91xKzmW5SPGSy_GvsbJGkMtuxxAD0Agm7T9g5gI,426
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  jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
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  jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
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  jaxsim/typing.py,sha256=cl7HHQCeP3mHmtF6EuQZcCjGvDmc_AryMWntP_lRBGg,722
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  jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
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  jaxsim/api/com.py,sha256=Yof6otFi-mLWAs1rqjmeNJTOWIH9gn7BdU5EIjiL6Ts,13481
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  jaxsim/api/common.py,sha256=bqQ__pIQZbh-j8rkoHUkYHAgGiJnDzjHG-q4Ny0OOYQ,6646
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- jaxsim/api/contact.py,sha256=soB28vqmzUwE6CN36TU4keASWZoSWE2_zhJLXA8yw2E,13132
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+ jaxsim/api/contact.py,sha256=dQYmwsypUGlDaKr9yyFXgpu-mekA23Prg3t9UdJn9iM,13120
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  jaxsim/api/data.py,sha256=oAJ2suPeQLQZGpHZi98g6UZp1VcoDtuqT_aZBpynA30,27582
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  jaxsim/api/frame.py,sha256=m_waB9_0kgJq5miiZDXdRzIZii-BwQaN9bRt22JkJ1I,7212
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  jaxsim/api/joint.py,sha256=Pvg_It2iYA-jAQ2nOlFZxwmITiozO_f46G13BdQtHQ0,5106
@@ -61,8 +61,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
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  jaxsim/utils/jaxsim_dataclass.py,sha256=h26timZ_XrBL_Q_oymv-DkQd-EcUiHn8QexAaZXBY9c,11396
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  jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
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  jaxsim/utils/wrappers.py,sha256=QIJitSoljrKR_U4T3ewCJPT3DTh-tPZsRsg0t_MH93E,3896
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- jaxsim-0.3.1.dev56.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.3.1.dev56.dist-info/METADATA,sha256=z1LxODuJ9t-wPS3q_cc2kEnH8E8e8R-arIkmnbzgI20,9739
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- jaxsim-0.3.1.dev56.dist-info/WHEEL,sha256=cpQTJ5IWu9CdaPViMhC9YzF8gZuS5-vlfoFihTBC86A,91
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- jaxsim-0.3.1.dev56.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.3.1.dev56.dist-info/RECORD,,
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+ jaxsim-0.3.1.dev59.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.3.1.dev59.dist-info/METADATA,sha256=YMJqmKV3xDMW9oIxhK_QqsRy-LHPCet4vSqrDsP3ZF8,9739
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+ jaxsim-0.3.1.dev59.dist-info/WHEEL,sha256=cpQTJ5IWu9CdaPViMhC9YzF8gZuS5-vlfoFihTBC86A,91
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+ jaxsim-0.3.1.dev59.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.3.1.dev59.dist-info/RECORD,,