jaxsim 0.4.1.dev26__py3-none-any.whl → 0.4.2__py3-none-any.whl

jaxsim/rbda/jacobian.py

@@ -67,10 +67,14 @@ def jacobian(
 
         return (i_X_0,), None
 
-    (i_X_0,), _ = jax.lax.scan(
-        f=propagate_kinematics,
-        init=propagate_kinematics_carry,
-        xs=np.arange(start=1, stop=model.number_of_links()),
+    (i_X_0,), _ = (
+        jax.lax.scan(
+            f=propagate_kinematics,
+            init=propagate_kinematics_carry,
+            xs=np.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [(i_X_0,), None]
     )
 
     # ============================
@@ -105,10 +109,14 @@ def jacobian(
 
         return J, None
 
-    L_J_WL_B, _ = jax.lax.scan(
-        f=compute_jacobian,
-        init=J,
-        xs=np.arange(start=1, stop=model.number_of_links()),
+    L_J_WL_B, _ = (
+        jax.lax.scan(
+            f=compute_jacobian,
+            init=J,
+            xs=np.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [J, None]
     )
 
     return L_J_WL_B
@@ -184,10 +192,14 @@ def jacobian_full_doubly_left(
 
         return (B_X_i, J), None
 
-    (B_X_i, J), _ = jax.lax.scan(
-        f=compute_full_jacobian,
-        init=compute_full_jacobian_carry,
-        xs=np.arange(start=1, stop=model.number_of_links()),
+    (B_X_i, J), _ = (
+        jax.lax.scan(
+            f=compute_full_jacobian,
+            init=compute_full_jacobian_carry,
+            xs=np.arange(start=1, stop=model.number_of_links()),
+        )
+        if model.number_of_links() > 1
+        else [(B_X_i, J), None]
     )
 
     # Convert adjoints to SE(3) transforms.

jaxsim/rbda/rnea.py

@@ -6,7 +6,7 @@ import jaxlie
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.math import Adjoint, Cross, Quaternion, StandardGravity
+from jaxsim.math import Adjoint, Cross, StandardGravity
 
 from . import utils
 
@@ -82,7 +82,7 @@ def rnea(
 
     # Compute the base transform.
     W_H_B = jaxlie.SE3.from_rotation_and_translation(
-        rotation=jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(wxyz=W_Q_B)),
+        rotation=jaxlie.SO3(wxyz=W_Q_B),
         translation=W_p_B,
     )
 

{jaxsim-0.4.1.dev26.dist-info → jaxsim-0.4.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.1.dev26
+Version: 0.4.2
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>
 Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
@@ -60,29 +60,29 @@ Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
-Requires-Dist: jax >=0.4.13
-Requires-Dist: jaxlib >=0.4.13
-Requires-Dist: jaxlie >=1.3.0
-Requires-Dist: jax-dataclasses >=1.4.0
+Requires-Dist: jax>=0.4.13
+Requires-Dist: jaxlib>=0.4.13
+Requires-Dist: jaxlie>=1.3.0
+Requires-Dist: jax-dataclasses>=1.4.0
 Requires-Dist: pptree
-Requires-Dist: rod >=0.3.0
-Requires-Dist: typing-extensions ; python_version < "3.12"
+Requires-Dist: rod>=0.3.0
+Requires-Dist: typing-extensions; python_version < "3.12"
 Provides-Extra: all
-Requires-Dist: jaxsim[style,testing,viz] ; extra == 'all'
+Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
 Provides-Extra: style
-Requires-Dist: black[jupyter] ~=24.0 ; extra == 'style'
-Requires-Dist: isort ; extra == 'style'
-Requires-Dist: pre-commit ; extra == 'style'
+Requires-Dist: black[jupyter]~=24.0; extra == "style"
+Requires-Dist: isort; extra == "style"
+Requires-Dist: pre-commit; extra == "style"
 Provides-Extra: testing
-Requires-Dist: idyntree >=12.2.1 ; extra == 'testing'
-Requires-Dist: pytest >=6.0 ; extra == 'testing'
-Requires-Dist: pytest-icdiff ; extra == 'testing'
-Requires-Dist: robot-descriptions ; extra == 'testing'
+Requires-Dist: idyntree>=12.2.1; extra == "testing"
+Requires-Dist: pytest>=6.0; extra == "testing"
+Requires-Dist: pytest-icdiff; extra == "testing"
+Requires-Dist: robot-descriptions; extra == "testing"
 Provides-Extra: viz
-Requires-Dist: lxml ; extra == 'viz'
-Requires-Dist: mediapy ; extra == 'viz'
-Requires-Dist: mujoco >=3.0.0 ; extra == 'viz'
-Requires-Dist: scipy >=1.14.0 ; extra == 'viz'
+Requires-Dist: lxml; extra == "viz"
+Requires-Dist: mediapy; extra == "viz"
+Requires-Dist: mujoco>=3.0.0; extra == "viz"
+Requires-Dist: scipy>=1.14.0; extra == "viz"
 
 # JaxSim
 
@@ -90,6 +90,18 @@ JaxSim is a **differentiable physics engine** and **multibody dynamics library**
 
 Its design facilitates research and accelerates prototyping in the intersection of robotics and artificial intelligence.
 
+<div align="center">
+<br/>
+<table>
+  <tr>
+    <th><img src="https://github.com/user-attachments/assets/115b1c1c-6ae5-4c59-92e0-1be13ba954db" width="250"></th>
+    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="250"></th>
+    <th><img src="https://github.com/user-attachments/assets/ae8adadf-3bca-47b8-97ca-3a9273633d60" width="250"></th>
+  </tr>
+</table>
+<br/>
+</div>
+
 ## Features
 
 - Physics engine in reduced coordinates supporting fixed-base and floating-base robots.

{jaxsim-0.4.1.dev26.dist-info → jaxsim-0.4.2.dist-info}/RECORD

@@ -1,38 +1,38 @@
 jaxsim/__init__.py,sha256=ixsS4dYMPex2wOUUp_rkPnwrPhYzkRh1xO_YuMj3Cr4,2626
-jaxsim/_version.py,sha256=XHImy4n87oPsekUjMVW4OEA98IRwpuieyG_-X7GiPcs,426
+jaxsim/_version.py,sha256=McNH31cVzymi4jtwoAHwNiyVAdDW8uY0z3IcBioCvQI,411
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=IbFx3UkEXi-cm7UBqMPi58rJAFV_HbZ9E_K4JwfNvVM,753
 jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
-jaxsim/api/com.py,sha256=6TnYCvjmsJ2KLuw3NtZb0pay7ZwGKe9MKphYeQdjpQ0,13474
+jaxsim/api/com.py,sha256=m-p3EJDhpnMTlXKplfbZE_aH9NqX_VyLlAE3vUhc6l4,13642
 jaxsim/api/common.py,sha256=Ubi6uAw3o6qbdU0TFGzUyHg98EnoMzrnlihrvrs95Sk,6653
-jaxsim/api/contact.py,sha256=EcOx_T94gZT3igtebmW9FJDpZYPEf-RwKfFN18JjOWM,13364
-jaxsim/api/data.py,sha256=-xx4b11thP8oJEXB4xtgrh3RTY2-BxrT38b7s_GrzjA,27420
-jaxsim/api/frame.py,sha256=l_7hRla8V7wGYIA57Lw7mDNDrBvIH3yowKL4YkFz6N4,7214
+jaxsim/api/contact.py,sha256=yBLfjT01BxEZ1lnC0WBSJZwCXK9DnW_DBJxmo9arStE,19855
+jaxsim/api/data.py,sha256=T6m7-NteWrm-K3491Yo76xvlWtFCKqTzEE7Ughcasi8,27197
+jaxsim/api/frame.py,sha256=Lsx9OIao_UZOQ6ibB_rramCRiYQbQv-M8C1QdoQdgcA,12902
 jaxsim/api/joint.py,sha256=Pvg_It2iYA-jAQ2nOlFZxwmITiozO_f46G13BdQtHQ0,5106
 jaxsim/api/kin_dyn_parameters.py,sha256=CcfSg5Mc8qb1mZeMQ4AK_ffZIsK5yOl7tu397pFhcDA,29369
-jaxsim/api/link.py,sha256=hn7fbxaebHeXnvwEG9jZiWwzRcfdS8m-18LVsIG3S24,18479
-jaxsim/api/model.py,sha256=5FV1oMfa8c5OoC-lxy1KP8hf6Inn6sZvEp9htcjo1J0,61500
+jaxsim/api/link.py,sha256=GlnY7LMne-siFyg9J49IZGhiPQzS9Uk6rzQ0jI8cD_E,18622
+jaxsim/api/model.py,sha256=EdSjpKXd4N72wYjg5o0wGKFxjVMyrXg6LnlPEi3JqnU,63094
 jaxsim/api/ode.py,sha256=NnLTBvpaT4kXnbjAghXIzLv9DTMJ8bele2iOlUQDv3Q,11028
 jaxsim/api/ode_data.py,sha256=9YZX-SK_KJtoIqG-zYWZsQInb2NA_LtxDn-jtLqm_3U,19759
-jaxsim/api/references.py,sha256=UA6kSQVBoq-bXSo99EOELf-_MD5MTy2zS0GtG3wQ410,16618
+jaxsim/api/references.py,sha256=XOVKuQXRmjPoP-T5JWGSbqIGX5DzOkeGafqRpj0ZQEM,20771
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
-jaxsim/integrators/common.py,sha256=iwFykYZxdchqJcmcx8MFWEVijS5Hx9wCNKLKAJdF4gE,20103
+jaxsim/integrators/common.py,sha256=GqiyKTrAozuR6RuvVWdPF7locZQAXSEDY2AjTKpFGYM,20149
 jaxsim/integrators/fixed_step.py,sha256=KpjRd6hHtapxDoo6D1kyDrVDSHnke2TepI5grFH7_bM,2693
 jaxsim/integrators/variable_step.py,sha256=0FCmAZIFnhvQxVbAzNfZgCWN1yMRTGVdBm9UwwaXI1o,21280
 jaxsim/math/__init__.py,sha256=8oPITEoGwgRcOeG8KxtqxPQ8b5uku1HNRMokpCoi9Tc,352
-jaxsim/math/adjoint.py,sha256=DT21izjVW497GRrgNfx8tv0ZeWW5QncWMGMhI0acUNw,4425
+jaxsim/math/adjoint.py,sha256=o1FCipkGwPtMbN2gFNIyUV8ADF3TX5fxElpTEXK0bIs,4377
 jaxsim/math/cross.py,sha256=U7yEx_l75mSy5g6O-jsjBztApvxC3WaV4MpkS5tThu4,1330
 jaxsim/math/inertia.py,sha256=UAB7ym4gXFanejcs_ovZMpteHCc6poWYmt-mLmd5hhk,1640
-jaxsim/math/joint_model.py,sha256=cVD9G8tBCsYtXC-r2BkVYO8Jg_km_BhJr7dezh3x6Rw,9995
-jaxsim/math/quaternion.py,sha256=A05m7syBTIpl3SrsB7F76NNbExtUyJAdvHMavjNManI,4863
+jaxsim/math/joint_model.py,sha256=VZ3hRCgb0gsyI1wN1UdHkmaRMBxjAYQK1i_3WIvkdUA,9994
+jaxsim/math/quaternion.py,sha256=_WA7W3iv7px83sWO1V1n0-J78hqAlO4SL1-jofE-UZ4,4754
 jaxsim/math/rotation.py,sha256=Z90daUjGpuNEVLfWB3SVtM9EtwAIaneVj9A9UpWXqhA,2182
 jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
-jaxsim/math/transform.py,sha256=_5kSnfkS6_vxvjxdw50KeXMjvW8e1OGaumUlk1iGJgc,2969
+jaxsim/math/transform.py,sha256=KXzQgOnCfAtbXCwxhplpJ3F0JT3oEyeLVby1_uRAryQ,2892
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=He55jmkC5wQpMhEIDHOXXbqgWNjJ2fx16wOTStp_3PA,25111
-jaxsim/mujoco/model.py,sha256=EwUPg9BsNv1B7TdDfjZCpC022lDR16AyIAajPJGH7NU,16357
+jaxsim/mujoco/loaders.py,sha256=t9kWyvTJoMChBs8WMaZEPH1Y_smp_A9go6XT6rHcPEU,25301
+jaxsim/mujoco/model.py,sha256=ZqqHBDnB-y8ueHydD0Ujbg4ALyLUpB_6r_9r0sENQvI,16359
 jaxsim/mujoco/visualizer.py,sha256=XvMzGSHM-xnOSYl1Vk6bPe6j6ylQmJeLOgxHgL6I1nw,6966
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/parsers/kinematic_graph.py,sha256=88d0EmndVJWdcyFJsW25S78Z8F04cUt08RQMyoil1Xw,34734
@@ -45,24 +45,24 @@ jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrG
 jaxsim/parsers/rod/parser.py,sha256=B8fnnL3LFNfCNTTFhX_OeQZhTlRgwPFCNKcUVL94-rY,13528
 jaxsim/parsers/rod/utils.py,sha256=5DsF3OeePZGidOJ5GiFSZx-51uIdnFvMW9EK6SgOW6Q,5698
 jaxsim/rbda/__init__.py,sha256=H7DhXpxkPOi9lpUvg31IMHFfRafke1UoJLc5GQIdyhA,387
-jaxsim/rbda/aba.py,sha256=IyeeCOF5nD-WSkRT5nMYtLuC0RWiyJQHlcyWDjQqliQ,9041
-jaxsim/rbda/collidable_points.py,sha256=fQBZonoiLSSgHNpsa4mwe5wsA1j7jb2b_0D9z_oqKWo,4941
-jaxsim/rbda/crba.py,sha256=NhtZO48OUKKor7ddY7mB7h7a6idrmOyf0Vy4p7UCCgI,4724
-jaxsim/rbda/forward_kinematics.py,sha256=OEQYovnLKsWphUKhigmWa_384LwZW3Csp0MKufw4e1M,3415
-jaxsim/rbda/jacobian.py,sha256=I6mrlkk7Cpq3CE7k_tajOHCbT6vf2pW6vMS0TKNCnng,10725
-jaxsim/rbda/rnea.py,sha256=UrhcL93fp3pAKlGxOPS6X47L0ferH50bcSMzG55t4zY,7626
+jaxsim/rbda/aba.py,sha256=w7ciyxB0IsmueatT0C7PcBQEl9dyiH9oqJgIi3xeTUE,8983
+jaxsim/rbda/collidable_points.py,sha256=Rmf1DhflhOTYh9mDalv0agS0CGSbmfoOybwP2KzKuJ0,4883
+jaxsim/rbda/crba.py,sha256=zJSiHKRvNU98z2tT9prrWR4VU9wIZQWFwEut7mua6as,5044
+jaxsim/rbda/forward_kinematics.py,sha256=2GmEoWsrioVl_SAbKRKfhOLz57pY4aR81PKRdulqStA,3458
+jaxsim/rbda/jacobian.py,sha256=p0EV_8cLzLVV-93VKznT7VPuRj8W7h7rQWkPlWJXfCA,11023
+jaxsim/rbda/rnea.py,sha256=LGXD6s3NigaVy4-WxoROjnbKLZcUoyFmS9UNu_4ldjo,7568
 jaxsim/rbda/utils.py,sha256=eeT21Y4DiiyhrdF0lUE_VvRuwru5-rR7yOlOlWzCCWE,5381
 jaxsim/rbda/contacts/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/rbda/contacts/common.py,sha256=iMKLP30Qft9eGTiHo2iY-UoACJjg1JphA9_pW8wRdjc,2410
-jaxsim/rbda/contacts/soft.py,sha256=3cDynim_tIgcbzRuqpHN82v4ELlxxK6lR-PG0haSK7Q,15660
+jaxsim/rbda/contacts/soft.py,sha256=_wvb5iZDjGcVg6rNQelN4LZN7qSC2NIp0HdKvZmlGfk,15647
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=ctyNANIFSM3tZmamprjaEDcWgUSP0oNJbmT1zw9RjPs,4565
 jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=fLl1tY3DDb3lpIhG6BPqA5W34hM84oFzL-5cuz8k-68,11379
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=GOJQCJc5zwzoEGZB62wnWWGvUUQlXvDxz_A2Q-hFv7c,4027
-jaxsim-0.4.1.dev26.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.1.dev26.dist-info/METADATA,sha256=27JNrQu22xRXb76bTZRngzB8hH0VQ57yUj7ucIAMePU,16826
-jaxsim-0.4.1.dev26.dist-info/WHEEL,sha256=Z4pYXqR_rTB7OWNDYFOm1qRk0RX6GFP2o8LgvP453Hk,91
-jaxsim-0.4.1.dev26.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.1.dev26.dist-info/RECORD,,
+jaxsim-0.4.2.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.2.dist-info/METADATA,sha256=7k6l7OO00B6czQi7O1MPCpjcbL1qxeSwy19khRT4FXc,17221
+jaxsim-0.4.2.dist-info/WHEEL,sha256=nCVcAvsfA9TDtwGwhYaRrlPhTLV9m-Ga6mdyDtuwK18,91
+jaxsim-0.4.2.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.2.dist-info/RECORD,,

{jaxsim-0.4.1.dev26.dist-info → jaxsim-0.4.2.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (70.3.0)
+Generator: setuptools (73.0.0)
 Root-Is-Purelib: true
 Tag: py3-none-any