jaxsim 0.3.1.dev59__tar.gz → 0.3.1.dev64__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (125) hide show
  1. jaxsim-0.3.1.dev64/.gitattributes +2 -0
  2. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/PKG-INFO +1 -1
  3. jaxsim-0.3.1.dev64/pixi.lock +3 -0
  4. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/_version.py +2 -2
  5. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/integrators/common.py +2 -9
  6. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim.egg-info/PKG-INFO +1 -1
  7. jaxsim-0.3.1.dev59/examples/.gitattributes +0 -2
  8. jaxsim-0.3.1.dev59/pixi.lock +0 -16568
  9. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.devcontainer/Dockerfile +0 -0
  10. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.devcontainer/devcontainer.json +0 -0
  11. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.github/CODEOWNERS +0 -0
  12. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.github/workflows/ci_cd.yml +0 -0
  13. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.github/workflows/read_the_docs.yml +0 -0
  14. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.github/workflows/style.yml +0 -0
  15. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.gitignore +0 -0
  16. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.pre-commit-config.yaml +0 -0
  17. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/.readthedocs.yaml +0 -0
  18. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/CONTRIBUTING.md +0 -0
  19. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/LICENSE +0 -0
  20. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/README.md +0 -0
  21. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/Makefile +0 -0
  22. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/conf.py +0 -0
  23. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/guide/install.rst +0 -0
  24. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/index.rst +0 -0
  25. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/make.bat +0 -0
  26. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/api.rst +0 -0
  27. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/index.rst +0 -0
  28. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/integrators.rst +0 -0
  29. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/math.rst +0 -0
  30. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/mujoco.rst +0 -0
  31. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/parsers.rst +0 -0
  32. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/rbda.rst +0 -0
  33. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/typing.rst +0 -0
  34. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/docs/modules/utils.rst +0 -0
  35. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/environment.yml +0 -0
  36. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64/examples}/.gitattributes +0 -0
  37. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/examples/.gitignore +0 -0
  38. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/examples/PD_controller.ipynb +0 -0
  39. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/examples/Parallel_computing.ipynb +0 -0
  40. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/examples/README.md +0 -0
  41. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/examples/assets/cartpole.urdf +0 -0
  42. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/pyproject.toml +0 -0
  43. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/setup.cfg +0 -0
  44. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/setup.py +0 -0
  45. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/__init__.py +0 -0
  46. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/__init__.py +0 -0
  47. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/com.py +0 -0
  48. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/common.py +0 -0
  49. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/contact.py +0 -0
  50. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/data.py +0 -0
  51. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/frame.py +0 -0
  52. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/joint.py +0 -0
  53. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/kin_dyn_parameters.py +0 -0
  54. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/link.py +0 -0
  55. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/model.py +0 -0
  56. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/ode.py +0 -0
  57. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/ode_data.py +0 -0
  58. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/api/references.py +0 -0
  59. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/exceptions.py +0 -0
  60. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/integrators/__init__.py +0 -0
  61. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/integrators/fixed_step.py +0 -0
  62. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/integrators/variable_step.py +0 -0
  63. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/logging.py +0 -0
  64. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/__init__.py +0 -0
  65. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/adjoint.py +0 -0
  66. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/cross.py +0 -0
  67. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/inertia.py +0 -0
  68. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/joint_model.py +0 -0
  69. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/quaternion.py +0 -0
  70. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/rotation.py +0 -0
  71. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/skew.py +0 -0
  72. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/math/transform.py +0 -0
  73. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/mujoco/__init__.py +0 -0
  74. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/mujoco/__main__.py +0 -0
  75. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/mujoco/loaders.py +0 -0
  76. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/mujoco/model.py +0 -0
  77. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/mujoco/visualizer.py +0 -0
  78. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/__init__.py +0 -0
  79. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  80. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  81. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  82. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/descriptions/link.py +0 -0
  83. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/descriptions/model.py +0 -0
  84. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  85. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/rod/__init__.py +0 -0
  86. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/rod/parser.py +0 -0
  87. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/parsers/rod/utils.py +0 -0
  88. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/__init__.py +0 -0
  89. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/aba.py +0 -0
  90. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/collidable_points.py +0 -0
  91. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/contacts/__init__.py +0 -0
  92. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/contacts/common.py +0 -0
  93. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/contacts/soft.py +0 -0
  94. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/crba.py +0 -0
  95. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  96. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/jacobian.py +0 -0
  97. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/rnea.py +0 -0
  98. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/rbda/utils.py +0 -0
  99. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/terrain/__init__.py +0 -0
  100. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/terrain/terrain.py +0 -0
  101. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/typing.py +0 -0
  102. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/utils/__init__.py +0 -0
  103. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  104. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/utils/tracing.py +0 -0
  105. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/utils/wrappers.py +0 -0
  106. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  107. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  108. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim.egg-info/not-zip-safe +0 -0
  109. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim.egg-info/requires.txt +0 -0
  110. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim.egg-info/top_level.txt +0 -0
  111. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/__init__.py +0 -0
  112. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/conftest.py +0 -0
  113. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_api_com.py +0 -0
  114. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_api_contact.py +0 -0
  115. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_api_data.py +0 -0
  116. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_api_frame.py +0 -0
  117. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_api_joint.py +0 -0
  118. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_api_link.py +0 -0
  119. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_api_model.py +0 -0
  120. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_automatic_differentiation.py +0 -0
  121. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_contact.py +0 -0
  122. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_exceptions.py +0 -0
  123. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_pytree.py +0 -0
  124. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/test_simulations.py +0 -0
  125. {jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/tests/utils_idyntree.py +0 -0
jaxsim-0.3.1.dev64/.gitattributes ADDED
@@ -0,0 +1,2 @@
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+ # GitHub syntax highlighting
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+ pixi.lock filter=lfs diff=lfs merge=lfs -text
{jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/PKG-INFO 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.dev64/pixi.lock ADDED
@@ -0,0 +1,3 @@
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:bb220f5e8019daad5e75ab13a8f996b1580f2465ed7ead9ae230e4482e256f1e
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+ size 689632
{jaxsim-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/_version.py RENAMED
@@ -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-0.3.1.dev59 → jaxsim-0.3.1.dev64}/src/jaxsim/integrators/common.py RENAMED
@@ -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 → jaxsim-0.3.1.dev64}/src/jaxsim.egg-info/PKG-INFO RENAMED
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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/examples/.gitattributes DELETED
@@ -1,2 +0,0 @@
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- # GitHub syntax highlighting
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- pixi.lock linguist-language=YAML