jaxsim 0.4.2.dev42__py3-none-any.whl → 0.4.2.dev45__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/api/references.py +4 -4
  3. {jaxsim-0.4.2.dev42.dist-info → jaxsim-0.4.2.dev45.dist-info}/METADATA +1 -1
  4. {jaxsim-0.4.2.dev42.dist-info → jaxsim-0.4.2.dev45.dist-info}/RECORD +7 -7
  5. {jaxsim-0.4.2.dev42.dist-info → jaxsim-0.4.2.dev45.dist-info}/WHEEL +1 -1
  6. {jaxsim-0.4.2.dev42.dist-info → jaxsim-0.4.2.dev45.dist-info}/LICENSE +0 -0
  7. {jaxsim-0.4.2.dev42.dist-info → jaxsim-0.4.2.dev45.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.dev42'
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- __version_tuple__ = version_tuple = (0, 4, 2, 'dev42')
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+ __version__ = version = '0.4.2.dev45'
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+ __version_tuple__ = version_tuple = (0, 4, 2, 'dev45')
jaxsim/api/references.py CHANGED
@@ -493,9 +493,9 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
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  # Extract the frame indices.
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  frame_idxs = js.frame.names_to_idxs(frame_names=frame_names, model=model)
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- parent_link_idxs = js.frame.idx_of_parent_link(
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- model=model, frame_idxs=frame_idxs
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- )
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+ parent_link_idxs = jax.vmap(
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+ lambda frame_idx: js.frame.idx_of_parent_link, in_axes=(None,)
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+ )(model, frame_idx=frame_idxs)
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  exceptions.raise_value_error_if(
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  condition=jnp.logical_not(data.valid(model=model)),
@@ -522,7 +522,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
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  W_f_F = f_F
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  case VelRepr.Body | VelRepr.Mixed:
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- W_f_F = jax.vmap(to_inertial)(f_F, W_H_Fi, frame_idxs)
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+ W_f_F = jax.vmap(to_inertial)(f_F, W_H_Fi)
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  case _:
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  raise ValueError("Invalid velocity representation.")
{jaxsim-0.4.2.dev42.dist-info → jaxsim-0.4.2.dev45.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.dev42
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+ Version: 0.4.2.dev45
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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.dev42.dist-info → jaxsim-0.4.2.dev45.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=njtZk_UeR-qtwYlmJWBz8rsfA8RvjcoJaUEUtBOwmPo,426
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+ jaxsim/_version.py,sha256=mvgmTuGOMpNiwe4eR061Vc1ZiYsIU9hMLQKJGhaZkFI,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=GlnY7LMne-siFyg9J49IZGhiPQzS9Uk6rzQ0jI8cD_E,18622
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  jaxsim/api/model.py,sha256=EdSjpKXd4N72wYjg5o0wGKFxjVMyrXg6LnlPEi3JqnU,63094
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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=j2HFVmYUPSrHous2R8B2J8_7DPPkzS4F_6FpOoz7MQI,21034
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+ jaxsim/api/references.py,sha256=6DG1V7dYLf088vSOOsvYSY-KNkzirD0zDJGohJbdLqc,21060
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  jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
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  jaxsim/integrators/common.py,sha256=GqiyKTrAozuR6RuvVWdPF7locZQAXSEDY2AjTKpFGYM,20149
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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.dev42.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.4.2.dev42.dist-info/METADATA,sha256=EZlHVYLI7Pzb3TdJU9XBOlSCgoDpFqIBNU6_b7y7-pA,17250
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- jaxsim-0.4.2.dev42.dist-info/WHEEL,sha256=Wyh-_nZ0DJYolHNn1_hMa4lM7uDedD_RGVwbmTjyItk,91
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- jaxsim-0.4.2.dev42.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.4.2.dev42.dist-info/RECORD,,
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+ jaxsim-0.4.2.dev45.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.4.2.dev45.dist-info/METADATA,sha256=gNR3PAFm00PuogCUoSG_ru548HM0k6IGQR6kSIIt2FI,17250
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+ jaxsim-0.4.2.dev45.dist-info/WHEEL,sha256=Rp8gFpivVLXx-k3U95ozHnQw8yDcPxmhOpn_Gx8d5nc,91
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+ jaxsim-0.4.2.dev45.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.4.2.dev45.dist-info/RECORD,,
{jaxsim-0.4.2.dev42.dist-info → jaxsim-0.4.2.dev45.dist-info}/WHEEL RENAMED
@@ -1,5 +1,5 @@
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  Wheel-Version: 1.0
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- Generator: setuptools (71.1.0)
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+ Generator: setuptools (72.0.0)
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  Root-Is-Purelib: true
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  Tag: py3-none-any
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