jaxsim 0.4.2.dev14__py3-none-any.whl → 0.4.2.dev28__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.2.dev14'
-__version_tuple__ = version_tuple = (0, 4, 2, 'dev14')
+__version__ = version = '0.4.2.dev28'
+__version_tuple__ = version_tuple = (0, 4, 2, 'dev28')

jaxsim/api/contact.py

@@ -8,6 +8,7 @@ import jax.numpy as jnp
 import jaxsim.api as js
 import jaxsim.terrain
 import jaxsim.typing as jtp
+from jaxsim.math import Adjoint, Cross, Transform
 from jaxsim.rbda.contacts.soft import SoftContactsParams
 
 from .common import VelRepr
@@ -411,3 +412,168 @@ def jacobian(
             raise ValueError(output_vel_repr)
 
     return O_J_WC
+
+
+@functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+def jacobian_derivative(
+    model: js.model.JaxSimModel,
+    data: js.data.JaxSimModelData,
+    *,
+    output_vel_repr: VelRepr | None = None,
+) -> jtp.Matrix:
+    r"""
+    Compute the derivative of the free-floating jacobian of the contact points.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+        output_vel_repr:
+            The output velocity representation of the free-floating jacobian derivative.
+
+    Returns:
+        The derivative of the :math:`6 \times (6+n)` free-floating jacobian of the contact points.
+
+    Note:
+        The input representation of the free-floating jacobian derivative is the active
+        velocity representation.
+    """
+
+    output_vel_repr = (
+        output_vel_repr if output_vel_repr is not None else data.velocity_representation
+    )
+
+    # Get the index of the parent link and the position of the collidable point.
+    parent_link_idxs = jnp.array(model.kin_dyn_parameters.contact_parameters.body)
+    L_p_Ci = jnp.array(model.kin_dyn_parameters.contact_parameters.point)
+    contact_idxs = jnp.arange(L_p_Ci.shape[0])
+
+    # Get the transforms of all the parent links.
+    W_H_Li = js.model.forward_kinematics(model=model, data=data)
+
+    # =====================================================
+    # Compute quantities to adjust the input representation
+    # =====================================================
+
+    def compute_T(model: js.model.JaxSimModel, X: jtp.Matrix) -> jtp.Matrix:
+        In = jnp.eye(model.dofs())
+        T = jax.scipy.linalg.block_diag(X, In)
+        return T
+
+    def compute_Ṫ(model: js.model.JaxSimModel, Ẋ: jtp.Matrix) -> jtp.Matrix:
+        On = jnp.zeros(shape=(model.dofs(), model.dofs()))
+        Ṫ = jax.scipy.linalg.block_diag(Ẋ, On)
+        return Ṫ
+
+    # Compute the operator to change the representation of ν, and its
+    # time derivative.
+    match data.velocity_representation:
+        case VelRepr.Inertial:
+            W_H_W = jnp.eye(4)
+            W_X_W = Adjoint.from_transform(transform=W_H_W)
+            W_Ẋ_W = jnp.zeros((6, 6))
+
+            T = compute_T(model=model, X=W_X_W)
+            Ṫ = compute_Ṫ(model=model, Ẋ=W_Ẋ_W)
+
+        case VelRepr.Body:
+            W_H_B = data.base_transform()
+            W_X_B = Adjoint.from_transform(transform=W_H_B)
+            B_v_WB = data.base_velocity()
+            B_vx_WB = Cross.vx(B_v_WB)
+            W_Ẋ_B = W_X_B @ B_vx_WB
+
+            T = compute_T(model=model, X=W_X_B)
+            Ṫ = compute_Ṫ(model=model, Ẋ=W_Ẋ_B)
+
+        case VelRepr.Mixed:
+            W_H_B = data.base_transform()
+            W_H_BW = W_H_B.at[0:3, 0:3].set(jnp.eye(3))
+            W_X_BW = Adjoint.from_transform(transform=W_H_BW)
+            BW_v_WB = data.base_velocity()
+            BW_v_W_BW = BW_v_WB.at[3:6].set(jnp.zeros(3))
+            BW_vx_W_BW = Cross.vx(BW_v_W_BW)
+            W_Ẋ_BW = W_X_BW @ BW_vx_W_BW
+
+            T = compute_T(model=model, X=W_X_BW)
+            Ṫ = compute_Ṫ(model=model, Ẋ=W_Ẋ_BW)
+
+        case _:
+            raise ValueError(data.velocity_representation)
+
+    # =====================================================
+    # Compute quantities to adjust the output representation
+    # =====================================================
+
+    with data.switch_velocity_representation(VelRepr.Inertial):
+        # Compute the Jacobian of the parent link in inertial representation.
+        W_J_WL_W = js.model.generalized_free_floating_jacobian(
+            model=model,
+            data=data,
+            output_vel_repr=VelRepr.Inertial,
+        )
+        # Compute the Jacobian derivative of the parent link in inertial representation.
+        W_J̇_WL_W = js.model.generalized_free_floating_jacobian_derivative(
+            model=model,
+            data=data,
+            output_vel_repr=VelRepr.Inertial,
+        )
+
+    # Get the Jacobian of the collidable points in the mixed representation.
+    with data.switch_velocity_representation(VelRepr.Mixed):
+        CW_J_WC_BW = jacobian(
+            model=model,
+            data=data,
+            output_vel_repr=VelRepr.Mixed,
+        )
+
+    def compute_O_J̇_WC_I(
+        L_p_C: jtp.Vector,
+        contact_idx: jtp.Int,
+        CW_J_WC_BW: jtp.Matrix,
+        W_H_L: jtp.Matrix,
+    ) -> jtp.Matrix:
+
+        parent_link_idx = parent_link_idxs[contact_idx]
+
+        match output_vel_repr:
+            case VelRepr.Inertial:
+                O_X_W = W_X_W = Adjoint.from_transform(transform=jnp.eye(4))
+                O_Ẋ_W = W_Ẋ_W = jnp.zeros((6, 6))
+
+            case VelRepr.Body:
+                L_H_C = Transform.from_rotation_and_translation(translation=L_p_C)
+                W_H_C = W_H_L[parent_link_idx] @ L_H_C
+                O_X_W = C_X_W = Adjoint.from_transform(transform=W_H_C, inverse=True)
+                with data.switch_velocity_representation(VelRepr.Inertial):
+                    W_nu = data.generalized_velocity()
+                W_v_WC = W_J_WL_W[parent_link_idx] @ W_nu
+                W_vx_WC = Cross.vx(W_v_WC)
+                O_Ẋ_W = C_Ẋ_W = -C_X_W @ W_vx_WC
+
+            case VelRepr.Mixed:
+                L_H_C = Transform.from_rotation_and_translation(translation=L_p_C)
+                W_H_C = W_H_L[parent_link_idx] @ L_H_C
+                W_H_CW = W_H_C.at[0:3, 0:3].set(jnp.eye(3))
+                CW_H_W = Transform.inverse(W_H_CW)
+                O_X_W = CW_X_W = Adjoint.from_transform(transform=CW_H_W)
+                with data.switch_velocity_representation(VelRepr.Mixed):
+                    CW_v_WC = CW_J_WC_BW @ data.generalized_velocity()
+                W_v_W_CW = jnp.zeros(6).at[0:3].set(CW_v_WC[0:3])
+                W_vx_W_CW = Cross.vx(W_v_W_CW)
+                O_Ẋ_W = CW_Ẋ_W = -CW_X_W @ W_vx_W_CW
+
+            case _:
+                raise ValueError(output_vel_repr)
+
+        O_J̇_WC_I = jnp.zeros(shape=(6, 6 + model.dofs()))
+        O_J̇_WC_I += O_Ẋ_W @ W_J_WL_W[parent_link_idx] @ T
+        O_J̇_WC_I += O_X_W @ W_J̇_WL_W[parent_link_idx] @ T
+        O_J̇_WC_I += O_X_W @ W_J_WL_W[parent_link_idx] @ Ṫ
+
+        return O_J̇_WC_I
+
+    O_J̇_WC = jax.vmap(compute_O_J̇_WC_I, in_axes=(0, 0, 0, None))(
+        L_p_Ci, contact_idxs, CW_J_WC_BW, W_H_Li
+    )
+
+    return O_J̇_WC

jaxsim/api/data.py

@@ -12,7 +12,6 @@ import jaxlie
 import jaxsim.api as js
 import jaxsim.rbda
 import jaxsim.typing as jtp
-from jaxsim.math import Quaternion
 from jaxsim.rbda.contacts.soft import SoftContacts
 from jaxsim.utils import Mutability
 from jaxsim.utils.tracing import not_tracing
@@ -191,9 +190,7 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
 
         W_H_B = jaxlie.SE3.from_rotation_and_translation(
             translation=base_position,
-            rotation=jaxlie.SO3.from_quaternion_xyzw(
-                base_quaternion[jnp.array([1, 2, 3, 0])]
-            ),
+            rotation=jaxlie.SO3(wxyz=base_quaternion),
         ).as_matrix()
 
         v_WB = JaxSimModelData.other_representation_to_inertial(
@@ -380,13 +377,7 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
             on_false=W_Q_B / jnp.linalg.norm(W_Q_B),
         )
 
-        return (
-            W_Q_B
-            if not dcm
-            else jaxlie.SO3.from_quaternion_xyzw(
-                Quaternion.to_xyzw(wxyz=W_Q_B)
-            ).as_matrix()
-        ).astype(float)
+        return (W_Q_B if not dcm else jaxlie.SO3(wxyz=W_Q_B).as_matrix()).astype(float)
 
     @jax.jit
     def base_transform(self) -> jtp.Matrix:

jaxsim/api/model.py

@@ -576,6 +576,41 @@ def generalized_free_floating_jacobian(
     return O_J_WL_I
 
 
+@functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+def generalized_free_floating_jacobian_derivative(
+    model: JaxSimModel,
+    data: js.data.JaxSimModelData,
+    *,
+    output_vel_repr: VelRepr | None = None,
+) -> jtp.Matrix:
+    """
+    Compute the free-floating jacobian derivatives of all links.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+        output_vel_repr:
+            The output velocity representation of the free-floating jacobian derivatives.
+
+    Returns:
+        The `(nL, 6, 6+dofs)` array containing the stacked free-floating
+        jacobian derivatives of the links. The first axis is the link index.
+    """
+
+    output_vel_repr = (
+        output_vel_repr if output_vel_repr is not None else data.velocity_representation
+    )
+
+    O_J̇_WL_I = jax.vmap(
+        lambda model, data, link_idxs, output_vel_repr: js.link.jacobian_derivative(
+            model, data, link_index=link_idxs, output_vel_repr=output_vel_repr
+        ),
+        in_axes=(None, None, 0, None),
+    )(model, data, jnp.arange(model.number_of_links()), output_vel_repr)
+
+    return O_J̇_WL_I
+
+
 @functools.partial(jax.jit, static_argnames=["prefer_aba"])
 def forward_dynamics(
     model: JaxSimModel,

jaxsim/math/adjoint.py

@@ -3,7 +3,6 @@ import jaxlie
 
 import jaxsim.typing as jtp
 
-from .quaternion import Quaternion
 from .skew import Skew
 
 
@@ -31,7 +30,7 @@ class Adjoint:
         assert quaternion.size == 4
         assert translation.size == 3
 
-        Q_sixd = jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(quaternion))
+        Q_sixd = jaxlie.SO3(wxyz=quaternion)
         Q_sixd = Q_sixd if not normalize_quaternion else Q_sixd.normalize()
 
         return Adjoint.from_rotation_and_translation(

jaxsim/math/joint_model.py

@@ -254,8 +254,8 @@ def supported_joint_motion(
         # This is a metadata required by only some joint types.
         axis = jnp.array(joint_axis).astype(float).squeeze()
 
-        pre_H_suc = jaxlie.SE3.from_rotation(
-            rotation=jaxlie.SO3.from_matrix(Rotation.from_axis_angle(vector=s * axis))
+        pre_H_suc = jaxlie.SE3.from_matrix(
+            matrix=jnp.eye(4).at[:3, :3].set(Rotation.from_axis_angle(vector=s * axis))
         )
 
         S = jnp.vstack(jnp.hstack([jnp.zeros(3), axis]))

jaxsim/math/quaternion.py

@@ -43,9 +43,7 @@ class Quaternion:
         Returns:
             jtp.Matrix: Direction cosine matrix (DCM).
         """
-        return jaxlie.SO3.from_quaternion_xyzw(
-            xyzw=Quaternion.to_xyzw(quaternion)
-        ).as_matrix()
+        return jaxlie.SO3(wxyz=quaternion).as_matrix()
 
     @staticmethod
     def from_dcm(dcm: jtp.Matrix) -> jtp.Vector:
@@ -158,7 +156,7 @@ class Quaternion:
         A_Q_B = jnp.array(quaternion).squeeze().astype(float)
 
         # Build the initial SO(3) quaternion.
-        W_Q_B_t0 = jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(wxyz=A_Q_B))
+        W_Q_B_t0 = jaxlie.SO3(wxyz=A_Q_B)
 
         # Integrate the quaternion on the manifold.
         W_Q_B_tf = jax.lax.select(

jaxsim/math/transform.py

@@ -3,8 +3,6 @@ import jaxlie
 
 import jaxsim.typing as jtp
 
-from .quaternion import Quaternion
-
 
 class Transform:
 
@@ -35,7 +33,7 @@ class Transform:
         assert W_p_B.size == 3
         assert W_Q_B.size == 4
 
-        A_R_B = jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(W_Q_B))
+        A_R_B = jaxlie.SO3(wxyz=W_Q_B)
         A_R_B = A_R_B if not normalize_quaternion else A_R_B.normalize()
 
         A_H_B = jaxlie.SE3.from_rotation_and_translation(

jaxsim/mujoco/model.py

@@ -238,9 +238,9 @@ class MujocoModelHelper:
             raise ValueError("The orientation is not a valid element of SO(3)")
 
         W_Q_B = (
-            Rotation.from_matrix(orientation).as_quat(canonical=True)[
-                np.array([3, 0, 1, 2])
-            ]
+            Rotation.from_matrix(orientation).as_quat(
+                canonical=True, scalar_first=False
+            )
             if dcm
             else orientation
         )
@@ -394,8 +394,8 @@ class MujocoModelHelper:
         if dcm:
             return R
 
-        q_xyzw = Rotation.from_matrix(R).as_quat(canonical=True)
-        return q_xyzw[[3, 0, 1, 2]]
+        q_xyzw = Rotation.from_matrix(R).as_quat(canonical=True, scalar_first=False)
+        return q_xyzw
 
     # ===============
     # Private methods

jaxsim/rbda/aba.py

@@ -4,7 +4,7 @@ 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
 
@@ -77,7 +77,7 @@ def aba(
 
     # 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/rbda/collidable_points.py

@@ -4,7 +4,7 @@ import jaxlie
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.math import Adjoint, Quaternion, Skew
+from jaxsim.math import Adjoint, Skew
 
 from . import utils
 
@@ -57,7 +57,7 @@ def collidable_points_pos_vel(
 
     # 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/rbda/forward_kinematics.py

@@ -4,7 +4,7 @@ import jaxlie
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.math import Adjoint, Quaternion
+from jaxsim.math import Adjoint
 
 from . import utils
 
@@ -42,7 +42,7 @@ def forward_kinematics_model(
 
     # 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/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-0.4.2.dev14.dist-info → jaxsim-0.4.2.dev28.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.2.dev14
+Version: 0.4.2.dev28
 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>

{jaxsim-0.4.2.dev14.dist-info → jaxsim-0.4.2.dev28.dist-info}/RECORD

@@ -1,18 +1,18 @@
 jaxsim/__init__.py,sha256=ixsS4dYMPex2wOUUp_rkPnwrPhYzkRh1xO_YuMj3Cr4,2626
-jaxsim/_version.py,sha256=jRPRZEzKDChhjpWljl9N_GLHWTOpQCRRl77mv8Vt46Y,426
+jaxsim/_version.py,sha256=2qDCKMaCBeWCRwlxCB4UQbl_v3wIgT4nVMoTvL5ZPKA,426
 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/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/contact.py,sha256=RdxPdwYbCpD_Wz0oiG9N569EoXtLiDGUAvCuoOJFYxc,19761
+jaxsim/api/data.py,sha256=T6m7-NteWrm-K3491Yo76xvlWtFCKqTzEE7Ughcasi8,27197
 jaxsim/api/frame.py,sha256=yQmhh8fckXnqzs7dQvojOzbuSanNGLwUTWUQDXbVtF4,12874
 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=PMTSz00AIVopwiJ3zGBoYPTtkLH_beJCcQsX9wBE38I,61502
+jaxsim/api/model.py,sha256=8TTFVc7HuPLxIRq4h1pzXwuSlQ4sDVmL5KpiO-OnmnM,62662
 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
@@ -21,18 +21,18 @@ jaxsim/integrators/common.py,sha256=iwFykYZxdchqJcmcx8MFWEVijS5Hx9wCNKLKAJdF4gE,
 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=MI1A6BgYGpS1dT3bQQBH66jtC08h7x5ieyAW5R6hisg,4349
 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/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
@@ -45,12 +45,12 @@ 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/aba.py,sha256=w7ciyxB0IsmueatT0C7PcBQEl9dyiH9oqJgIi3xeTUE,8983
+jaxsim/rbda/collidable_points.py,sha256=Rmf1DhflhOTYh9mDalv0agS0CGSbmfoOybwP2KzKuJ0,4883
 jaxsim/rbda/crba.py,sha256=NhtZO48OUKKor7ddY7mB7h7a6idrmOyf0Vy4p7UCCgI,4724
-jaxsim/rbda/forward_kinematics.py,sha256=OEQYovnLKsWphUKhigmWa_384LwZW3Csp0MKufw4e1M,3415
+jaxsim/rbda/forward_kinematics.py,sha256=FmqhZD0hQpIuUlmpzlA-5b7EYBaLZarrhiSZ782aC3E,3357
 jaxsim/rbda/jacobian.py,sha256=I6mrlkk7Cpq3CE7k_tajOHCbT6vf2pW6vMS0TKNCnng,10725
-jaxsim/rbda/rnea.py,sha256=UrhcL93fp3pAKlGxOPS6X47L0ferH50bcSMzG55t4zY,7626
+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
@@ -61,8 +61,8 @@ 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-0.4.2.dev14.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.2.dev14.dist-info/METADATA,sha256=SkneCN43STN1Dlg_drkx8-XYH0FOvUj53-jV0iuW9Pg,17250
-jaxsim-0.4.2.dev14.dist-info/WHEEL,sha256=-oYQCr74JF3a37z2nRlQays_SX2MqOANoqVjBBAP2yE,91
-jaxsim-0.4.2.dev14.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.2.dev14.dist-info/RECORD,,
+jaxsim-0.4.2.dev28.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.2.dev28.dist-info/METADATA,sha256=yw8qQ3mi7xmCuxJdZghz_SMShsV2mGyInvxo_yCS3j4,17250
+jaxsim-0.4.2.dev28.dist-info/WHEEL,sha256=Wyh-_nZ0DJYolHNn1_hMa4lM7uDedD_RGVwbmTjyItk,91
+jaxsim-0.4.2.dev28.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.2.dev28.dist-info/RECORD,,

{jaxsim-0.4.2.dev14.dist-info → jaxsim-0.4.2.dev28.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (71.0.3)
+Generator: setuptools (71.1.0)
 Root-Is-Purelib: true
 Tag: py3-none-any