jaxsim 0.4.2.dev40__tar.gz → 0.4.2.dev45__tar.gz

{jaxsim-0.4.2.dev40 → jaxsim-0.4.2.dev45}/PKG-INFO

@@ -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 → jaxsim-0.4.2.dev45}/src/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-0.4.2.dev40 → jaxsim-0.4.2.dev45}/src/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-0.4.2.dev40 → jaxsim-0.4.2.dev45}/src/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 → jaxsim-0.4.2.dev45}/src/jaxsim.egg-info/PKG-INFO

@@ -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>