jaxsim 0.4.2.dev40__py3-none-any.whl → 0.4.2.dev45__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.dev40'
-__version_tuple__ = version_tuple = (0, 4, 2, 'dev40')
+__version__ = version = '0.4.2.dev45'
+__version_tuple__ = version_tuple = (0, 4, 2, 'dev45')

jaxsim/api/references.py

@@ -493,9 +493,9 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
 
         # Extract the frame indices.
         frame_idxs = js.frame.names_to_idxs(frame_names=frame_names, model=model)
-        parent_link_idxs = js.frame.idx_of_parent_link(
-            model=model, frame_idxs=frame_idxs
-        )
+        parent_link_idxs = jax.vmap(
+            lambda frame_idx: js.frame.idx_of_parent_link, in_axes=(None,)
+        )(model, frame_idx=frame_idxs)
 
         exceptions.raise_value_error_if(
             condition=jnp.logical_not(data.valid(model=model)),
@@ -522,7 +522,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
                 W_f_F = f_F
 
             case VelRepr.Body | VelRepr.Mixed:
-                W_f_F = jax.vmap(to_inertial)(f_F, W_H_Fi, frame_idxs)
+                W_f_F = jax.vmap(to_inertial)(f_F, W_H_Fi)
 
             case _:
                 raise ValueError("Invalid velocity representation.")

jaxsim/mujoco/loaders.py

@@ -532,7 +532,12 @@ class UrdfToMjcf:
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
-        cameras: list[dict[str, str]] | dict[str, str] | None = None,
+        cameras: (
+            MujocoCamera
+            | Sequence[MujocoCamera]
+            | dict[str, str]
+            | Sequence[dict[str, str]]
+        ) = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a URDF file to a Mujoco MJCF string.
@@ -574,7 +579,12 @@ class SdfToMjcf:
         model_name: str | None = None,
         plane_normal: tuple[float, float, float] = (0, 0, 1),
         heightmap: bool | None = None,
-        cameras: list[dict[str, str]] | dict[str, str] | None = None,
+        cameras: (
+            MujocoCamera
+            | Sequence[MujocoCamera]
+            | dict[str, str]
+            | Sequence[dict[str, str]]
+        ) = (),
     ) -> tuple[str, dict[str, Any]]:
         """
         Converts a SDF file to a Mujoco MJCF string.

{jaxsim-0.4.2.dev40.dist-info → jaxsim-0.4.2.dev45.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.2.dev40
+Version: 0.4.2.dev45
 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.dev40.dist-info → jaxsim-0.4.2.dev45.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=ixsS4dYMPex2wOUUp_rkPnwrPhYzkRh1xO_YuMj3Cr4,2626
-jaxsim/_version.py,sha256=IHeZGiBfLA-67TJBjsSwGhMy3mGUT1zOZPLh4VZCDZc,426
+jaxsim/_version.py,sha256=mvgmTuGOMpNiwe4eR061Vc1ZiYsIU9hMLQKJGhaZkFI,426
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=c4zhwBKf9eAYAHVp62kTEllqdsZgh0K-kPKVy8L3elU,1584
 jaxsim/typing.py,sha256=IbFx3UkEXi-cm7UBqMPi58rJAFV_HbZ9E_K4JwfNvVM,753
@@ -15,7 +15,7 @@ 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=j2HFVmYUPSrHous2R8B2J8_7DPPkzS4F_6FpOoz7MQI,21034
+jaxsim/api/references.py,sha256=6DG1V7dYLf088vSOOsvYSY-KNkzirD0zDJGohJbdLqc,21060
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
 jaxsim/integrators/common.py,sha256=GqiyKTrAozuR6RuvVWdPF7locZQAXSEDY2AjTKpFGYM,20149
 jaxsim/integrators/fixed_step.py,sha256=KpjRd6hHtapxDoo6D1kyDrVDSHnke2TepI5grFH7_bM,2693
@@ -31,7 +31,7 @@ jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
 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/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
@@ -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.dev40.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.2.dev40.dist-info/METADATA,sha256=B5lG-2DYO7EcrLg9plOEN8SAfnTKZx2zg_jreaUfRs0,17250
-jaxsim-0.4.2.dev40.dist-info/WHEEL,sha256=Wyh-_nZ0DJYolHNn1_hMa4lM7uDedD_RGVwbmTjyItk,91
-jaxsim-0.4.2.dev40.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.2.dev40.dist-info/RECORD,,
+jaxsim-0.4.2.dev45.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.2.dev45.dist-info/METADATA,sha256=gNR3PAFm00PuogCUoSG_ru548HM0k6IGQR6kSIIt2FI,17250
+jaxsim-0.4.2.dev45.dist-info/WHEEL,sha256=Rp8gFpivVLXx-k3U95ozHnQw8yDcPxmhOpn_Gx8d5nc,91
+jaxsim-0.4.2.dev45.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.2.dev45.dist-info/RECORD,,

{jaxsim-0.4.2.dev40.dist-info → jaxsim-0.4.2.dev45.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (71.1.0)
+Generator: setuptools (72.0.0)
 Root-Is-Purelib: true
 Tag: py3-none-any