jaxsim 0.3.1.dev59__py3-none-any.whl → 0.3.1.dev64__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/integrators/common.py +2 -9
  3. {jaxsim-0.3.1.dev59.dist-info → jaxsim-0.3.1.dev64.dist-info}/METADATA +1 -1
  4. {jaxsim-0.3.1.dev59.dist-info → jaxsim-0.3.1.dev64.dist-info}/RECORD +7 -7
  5. {jaxsim-0.3.1.dev59.dist-info → jaxsim-0.3.1.dev64.dist-info}/WHEEL +1 -1
  6. {jaxsim-0.3.1.dev59.dist-info → jaxsim-0.3.1.dev64.dist-info}/LICENSE +0 -0
  7. {jaxsim-0.3.1.dev59.dist-info → jaxsim-0.3.1.dev64.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.dev59'
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- __version_tuple__ = version_tuple = (0, 3, 1, 'dev59')
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+ __version__ = version = '0.3.1.dev64'
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+ __version_tuple__ = version_tuple = (0, 3, 1, 'dev64')
jaxsim/integrators/common.py CHANGED
@@ -10,7 +10,6 @@ from jax_dataclasses import Static
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  import jaxsim.api as js
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  import jaxsim.typing as jtp
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- from jaxsim.math import Quaternion
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  from jaxsim.utils.jaxsim_dataclass import JaxsimDataclass, Mutability
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  try:
@@ -548,17 +547,11 @@ class ExplicitRungeKuttaSO3Mixin:
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  op = lambda x0_leaf, k_leaf: x0_leaf + dt * k_leaf
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  xf: js.ode_data.ODEState = jax.tree_util.tree_map(op, x0, k)
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- W_Q_B_t0 = x0.physics_model.base_quaternion
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- W_ω_WB_t0 = x0.physics_model.base_angular_velocity
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+ W_Q_B_tf = xf.physics_model.base_quaternion
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  return xf.replace(
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  physics_model=xf.physics_model.replace(
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- base_quaternion=Quaternion.integration(
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- quaternion=W_Q_B_t0,
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- dt=dt,
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- omega=W_ω_WB_t0,
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- omega_in_body_fixed=False,
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- ),
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+ base_quaternion=W_Q_B_tf / jnp.linalg.norm(W_Q_B_tf)
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  )
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  )
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{jaxsim-0.3.1.dev59.dist-info → jaxsim-0.3.1.dev64.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.dev59
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+ Version: 0.3.1.dev64
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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.dev59.dist-info → jaxsim-0.3.1.dev64.dist-info}/RECORD RENAMED
@@ -1,5 +1,5 @@
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  jaxsim/__init__.py,sha256=xzuTuZrgKdWLqqDzbvqzm2cJrEtAbepOeUqDu7ByVek,2621
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- jaxsim/_version.py,sha256=9RBh91xKzmW5SPGSy_GvsbJGkMtuxxAD0Agm7T9g5gI,426
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+ jaxsim/_version.py,sha256=SnUlDxfcrRjz3xsoOh2kLkwF4MfKo0gywrCWuqjlQBo,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
@@ -17,7 +17,7 @@ jaxsim/api/ode.py,sha256=agj6jF_bMZt56wIWfJ5gQOgRNKU5SvljGfFdQ0H4A5U,10663
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  jaxsim/api/ode_data.py,sha256=Sa2i1zZhqyQqIGv1jarTmmU-W9HhTw-DErs12kFA1GA,19737
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  jaxsim/api/references.py,sha256=UA6kSQVBoq-bXSo99EOELf-_MD5MTy2zS0GtG3wQ410,16618
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  jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
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- jaxsim/integrators/common.py,sha256=cRXD0UPEFo2UkPQnOUi3u9Ph3kbfaYFaAvGnZWjSWwI,20733
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+ jaxsim/integrators/common.py,sha256=nkrfz8L6Tdtpxj5quqzXl2ewMRWFp4inQM1xRH6Oqdw,20479
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  jaxsim/integrators/fixed_step.py,sha256=JXaEyEzfSiYea0GnPA7l27J3X0YPB0e25D4qfrxAvzQ,2766
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  jaxsim/integrators/variable_step.py,sha256=jq3PStzFiMciU7lux6CTj4B3gVOfSpYgK2oz2yzIbdo,21380
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  jaxsim/math/__init__.py,sha256=inJ9nRFkqstuGa8OyFkfWVudo5U9Ug4WgDBuKva8AIA,337
@@ -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.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,,
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+ jaxsim-0.3.1.dev64.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.3.1.dev64.dist-info/METADATA,sha256=mXQjZSckEi-OoeK2CBR54QpzBSBlteFjYm0gzdP64zI,9739
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+ jaxsim-0.3.1.dev64.dist-info/WHEEL,sha256=y4mX-SOX4fYIkonsAGA5N0Oy-8_gI4FXw5HNI1xqvWg,91
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+ jaxsim-0.3.1.dev64.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.3.1.dev64.dist-info/RECORD,,
{jaxsim-0.3.1.dev59.dist-info → jaxsim-0.3.1.dev64.dist-info}/WHEEL RENAMED
@@ -1,5 +1,5 @@
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  Wheel-Version: 1.0
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- Generator: setuptools (70.1.0)
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+ Generator: setuptools (70.2.0)
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  Root-Is-Purelib: true
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  Tag: py3-none-any
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