jaxsim 0.3.1.dev62__py3-none-any.whl → 0.3.1.dev94__py3-none-any.whl

jaxsim/utils/jaxsim_dataclass.py

@@ -134,7 +134,7 @@ class JaxsimDataclass(abc.ABC):
             not a numpy-like array.
         """
 
-        return tuple(  # noqa
+        return tuple(
             leaf.shape if hasattr(leaf, "shape") else None
             for leaf in jax.tree_util.tree_leaves(tree)
             if hasattr(leaf, "shape")
@@ -326,7 +326,7 @@ class JaxsimDataclass(abc.ABC):
 
         return obj
 
-    def flatten(self) -> jtp.VectorJax:
+    def flatten(self) -> jtp.Vector:
         """
         Flatten the object into a 1D vector.
 
@@ -337,7 +337,7 @@ class JaxsimDataclass(abc.ABC):
         return self.flatten_fn()(self)
 
     @classmethod
-    def flatten_fn(cls: Type[Self]) -> Callable[[Self], jtp.VectorJax]:
+    def flatten_fn(cls: Type[Self]) -> Callable[[Self], jtp.Vector]:
         """
         Return a function to flatten the object into a 1D vector.
 
@@ -347,7 +347,7 @@ class JaxsimDataclass(abc.ABC):
 
         return lambda pytree: jax.flatten_util.ravel_pytree(pytree)[0]
 
-    def unflatten_fn(self: Self) -> Callable[[jtp.VectorJax], Self]:
+    def unflatten_fn(self: Self) -> Callable[[jtp.Vector], Self]:
         """
         Return a function to unflatten a 1D vector into the object.
 

jaxsim/utils/wrappers.py

@@ -106,7 +106,11 @@ class HashedNumpyArray:
             return False
 
         if self.large_array:
-            return np.array_equal(self.array, other.array)
+            return np.allclose(
+                self.array,
+                other.array,
+                **({dict(atol=self.precision)} if self.precision is not None else {}),
+            )
 
         return hash(self) == hash(other)
 

{jaxsim-0.3.1.dev62.dist-info → jaxsim-0.3.1.dev94.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.3.1.dev62
+Version: 0.3.1.dev94
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
 Author-email: diego.ferigo@iit.it

jaxsim-0.3.1.dev94.dist-info/RECORD

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{jaxsim-0.3.1.dev62.dist-info → jaxsim-0.3.1.dev94.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (70.1.1)
+Generator: setuptools (70.2.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

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