jaxsim 0.4.2.dev28__py3-none-any.whl → 0.4.2.dev31__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/api/references.py +5 -1
  3. {jaxsim-0.4.2.dev28.dist-info → jaxsim-0.4.2.dev31.dist-info}/METADATA +1 -1
  4. {jaxsim-0.4.2.dev28.dist-info → jaxsim-0.4.2.dev31.dist-info}/RECORD +7 -7
  5. {jaxsim-0.4.2.dev28.dist-info → jaxsim-0.4.2.dev31.dist-info}/LICENSE +0 -0
  6. {jaxsim-0.4.2.dev28.dist-info → jaxsim-0.4.2.dev31.dist-info}/WHEEL +0 -0
  7. {jaxsim-0.4.2.dev28.dist-info → jaxsim-0.4.2.dev31.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 = '0.4.2.dev28'
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- __version_tuple__ = version_tuple = (0, 4, 2, 'dev28')
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+ __version__ = version = '0.4.2.dev31'
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+ __version_tuple__ = version_tuple = (0, 4, 2, 'dev31')
jaxsim/api/references.py CHANGED
@@ -30,6 +30,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
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  @staticmethod
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  def zero(
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  model: js.model.JaxSimModel,
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+ data: js.data.JaxSimModelData | None = None,
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  velocity_representation: VelRepr = VelRepr.Inertial,
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  ) -> JaxSimModelReferences:
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  """
@@ -37,6 +38,9 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
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  Args:
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  model: The model for which to create the zero references.
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+ data:
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+ The data of the model, only needed if the velocity representation is
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+ not inertial-fixed.
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  velocity_representation: The velocity representation to use.
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  Returns:
@@ -44,7 +48,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
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  """
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  return JaxSimModelReferences.build(
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- model=model, velocity_representation=velocity_representation
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+ model=model, data=data, velocity_representation=velocity_representation
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  )
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  @staticmethod
{jaxsim-0.4.2.dev28.dist-info → jaxsim-0.4.2.dev31.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: 0.4.2.dev28
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+ Version: 0.4.2.dev31
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  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
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  Author-email: Diego Ferigo <dgferigo@gmail.com>
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  Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
{jaxsim-0.4.2.dev28.dist-info → jaxsim-0.4.2.dev31.dist-info}/RECORD RENAMED
@@ -1,5 +1,5 @@
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  jaxsim/__init__.py,sha256=ixsS4dYMPex2wOUUp_rkPnwrPhYzkRh1xO_YuMj3Cr4,2626
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- jaxsim/_version.py,sha256=2qDCKMaCBeWCRwlxCB4UQbl_v3wIgT4nVMoTvL5ZPKA,426
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+ jaxsim/_version.py,sha256=NaaIf0Li8SvZ9MAX4mA2JwJaZ7w3LbcXaLdVp3HJJPg,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=IbFx3UkEXi-cm7UBqMPi58rJAFV_HbZ9E_K4JwfNvVM,753
@@ -15,7 +15,7 @@ jaxsim/api/link.py,sha256=hn7fbxaebHeXnvwEG9jZiWwzRcfdS8m-18LVsIG3S24,18479
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  jaxsim/api/model.py,sha256=8TTFVc7HuPLxIRq4h1pzXwuSlQ4sDVmL5KpiO-OnmnM,62662
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  jaxsim/api/ode.py,sha256=NnLTBvpaT4kXnbjAghXIzLv9DTMJ8bele2iOlUQDv3Q,11028
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  jaxsim/api/ode_data.py,sha256=9YZX-SK_KJtoIqG-zYWZsQInb2NA_LtxDn-jtLqm_3U,19759
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- jaxsim/api/references.py,sha256=UA6kSQVBoq-bXSo99EOELf-_MD5MTy2zS0GtG3wQ410,16618
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+ jaxsim/api/references.py,sha256=e8M7o4DDgfxsuJzV0WMwGbgCD-kXTDKLfJre7iwciHQ,16821
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  jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
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  jaxsim/integrators/common.py,sha256=iwFykYZxdchqJcmcx8MFWEVijS5Hx9wCNKLKAJdF4gE,20103
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  jaxsim/integrators/fixed_step.py,sha256=KpjRd6hHtapxDoo6D1kyDrVDSHnke2TepI5grFH7_bM,2693
@@ -61,8 +61,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
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  jaxsim/utils/jaxsim_dataclass.py,sha256=fLl1tY3DDb3lpIhG6BPqA5W34hM84oFzL-5cuz8k-68,11379
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  jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
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  jaxsim/utils/wrappers.py,sha256=GOJQCJc5zwzoEGZB62wnWWGvUUQlXvDxz_A2Q-hFv7c,4027
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- jaxsim-0.4.2.dev28.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.4.2.dev28.dist-info/METADATA,sha256=yw8qQ3mi7xmCuxJdZghz_SMShsV2mGyInvxo_yCS3j4,17250
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- jaxsim-0.4.2.dev28.dist-info/WHEEL,sha256=Wyh-_nZ0DJYolHNn1_hMa4lM7uDedD_RGVwbmTjyItk,91
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- jaxsim-0.4.2.dev28.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.4.2.dev28.dist-info/RECORD,,
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+ jaxsim-0.4.2.dev31.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.4.2.dev31.dist-info/METADATA,sha256=dnnmI39qsk5lb3hEZWe8mRZ1UntM_5KzSP5AL6S_jro,17250
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+ jaxsim-0.4.2.dev31.dist-info/WHEEL,sha256=Wyh-_nZ0DJYolHNn1_hMa4lM7uDedD_RGVwbmTjyItk,91
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+ jaxsim-0.4.2.dev31.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.4.2.dev31.dist-info/RECORD,,