jaxsim 0.4.2__py3-none-any.whl → 0.4.2.dev12__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'
-__version_tuple__ = version_tuple = (0, 4, 2)
+__version__ = version = '0.4.2.dev12'
+__version_tuple__ = version_tuple = (0, 4, 2, 'dev12')

jaxsim/api/com.py

@@ -137,9 +137,9 @@ def centroidal_momentum_jacobian(
 
     match data.velocity_representation:
         case VelRepr.Inertial | VelRepr.Mixed:
-            W_H_G = W_H_GW = jnp.eye(4).at[0:3, 3].set(W_p_CoM)  # noqa: F841
+            W_H_G = W_H_GW = jnp.eye(4).at[0:3, 3].set(W_p_CoM)
         case VelRepr.Body:
-            W_H_G = W_H_GB = W_H_B.at[0:3, 3].set(W_p_CoM)  # noqa: F841
+            W_H_G = W_H_GB = W_H_B.at[0:3, 3].set(W_p_CoM)
         case _:
             raise ValueError(data.velocity_representation)
 
@@ -172,9 +172,9 @@ def locked_centroidal_spatial_inertia(
 
     match data.velocity_representation:
         case VelRepr.Inertial | VelRepr.Mixed:
-            W_H_G = W_H_GW = jnp.eye(4).at[0:3, 3].set(W_p_CoM)  # noqa: F841
+            W_H_G = W_H_GW = jnp.eye(4).at[0:3, 3].set(W_p_CoM)
         case VelRepr.Body:
-            W_H_G = W_H_GB = W_H_B.at[0:3, 3].set(W_p_CoM)  # noqa: F841
+            W_H_G = W_H_GB = W_H_B.at[0:3, 3].set(W_p_CoM)
         case _:
             raise ValueError(data.velocity_representation)
 
@@ -290,14 +290,14 @@ def bias_acceleration(
 
         case VelRepr.Inertial:
 
-            C_v̇_WL = W_v̇_bias_WL = v̇_bias_WL  # noqa: F841
-            C_v_WC = W_v_WW = jnp.zeros(6)  # noqa: F841
+            C_v̇_WL = W_v̇_bias_WL = v̇_bias_WL
+            C_v_WC = W_v_WW = jnp.zeros(6)
 
-            L_H_C = L_H_W = jax.vmap(  # noqa: F841
+            L_H_C = L_H_W = jax.vmap(
                 lambda W_H_L: jaxsim.math.Transform.inverse(W_H_L)
             )(W_H_L)
 
-            L_v_LC = L_v_LW = jax.vmap(  # noqa: F841
+            L_v_LC = L_v_LW = jax.vmap(
                 lambda i: -js.link.velocity(
                     model=model, data=data, link_index=i, output_vel_repr=VelRepr.Body
                 )
@@ -314,9 +314,9 @@ def bias_acceleration(
 
         case VelRepr.Mixed:
 
-            C_v̇_WL = LW_v̇_bias_WL = v̇_bias_WL  # noqa: F841
+            C_v̇_WL = LW_v̇_bias_WL = v̇_bias_WL
 
-            C_v_WC = LW_v_W_LW = jax.vmap(  # noqa: F841
+            C_v_WC = LW_v_W_LW = jax.vmap(
                 lambda i: js.link.velocity(
                     model=model, data=data, link_index=i, output_vel_repr=VelRepr.Mixed
                 )
@@ -324,13 +324,13 @@ def bias_acceleration(
                 .set(jnp.zeros(3))
             )(jnp.arange(model.number_of_links()))
 
-            L_H_C = L_H_LW = jax.vmap(  # noqa: F841
+            L_H_C = L_H_LW = jax.vmap(
                 lambda W_H_L: jaxsim.math.Transform.inverse(
                     W_H_L.at[0:3, 3].set(jnp.zeros(3))
                 )
             )(W_H_L)
 
-            L_v_LC = L_v_L_LW = jax.vmap(  # noqa: F841
+            L_v_LC = L_v_L_LW = jax.vmap(
                 lambda i: -js.link.velocity(
                     model=model, data=data, link_index=i, output_vel_repr=VelRepr.Body
                 )

jaxsim/api/contact.py

@@ -8,7 +8,6 @@ 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
@@ -412,170 +411,3 @@ 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(  # noqa: F841
-                    transform=jnp.eye(4)
-                )
-                O_Ẋ_W = W_Ẋ_W = jnp.zeros((6, 6))  # noqa: F841
-
-            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  # noqa: F841
-
-            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  # noqa: F841
-
-            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

@@ -12,6 +12,7 @@ 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
@@ -190,7 +191,9 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
 
         W_H_B = jaxlie.SE3.from_rotation_and_translation(
             translation=base_position,
-            rotation=jaxlie.SO3(wxyz=base_quaternion),
+            rotation=jaxlie.SO3.from_quaternion_xyzw(
+                base_quaternion[jnp.array([1, 2, 3, 0])]
+            ),
         ).as_matrix()
 
         v_WB = JaxSimModelData.other_representation_to_inertial(
@@ -377,7 +380,13 @@ 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(wxyz=W_Q_B).as_matrix()).astype(float)
+        return (
+            W_Q_B
+            if not dcm
+            else jaxlie.SO3.from_quaternion_xyzw(
+                Quaternion.to_xyzw(wxyz=W_Q_B)
+            ).as_matrix()
+        ).astype(float)
 
     @jax.jit
     def base_transform(self) -> jtp.Matrix:

jaxsim/api/frame.py

@@ -384,7 +384,7 @@ def jacobian_derivative(
                 W_nu = data.generalized_velocity()
             W_v_WF = W_J_WL_W @ W_nu
             W_vx_WF = Cross.vx(W_v_WF)
-            O_Ẋ_W = F_Ẋ_W = -F_X_W @ W_vx_WF  # noqa: F841
+            O_Ẋ_W = F_Ẋ_W = -F_X_W @ W_vx_WF
 
         case VelRepr.Mixed:
             W_H_F = transform(model=model, data=data, frame_index=frame_index)
@@ -401,7 +401,7 @@ def jacobian_derivative(
                 FW_v_WF = FW_J_WF_FW @ data.generalized_velocity()
             W_v_W_FW = jnp.zeros(6).at[0:3].set(FW_v_WF[0:3])
             W_vx_W_FW = Cross.vx(W_v_W_FW)
-            O_Ẋ_W = FW_Ẋ_W = -FW_X_W @ W_vx_W_FW  # noqa: F841
+            O_Ẋ_W = FW_Ẋ_W = -FW_X_W @ W_vx_W_FW
 
         case _:
             raise ValueError(output_vel_repr)

jaxsim/api/link.py

@@ -288,7 +288,7 @@ def jacobian(
         case VelRepr.Inertial:
             W_H_B = data.base_transform()
             B_X_W = Adjoint.from_transform(transform=W_H_B, inverse=True)
-            B_J_WL_I = B_J_WL_W = B_J_WL_B @ jax.scipy.linalg.block_diag(  # noqa: F841
+            B_J_WL_I = B_J_WL_W = B_J_WL_B @ jax.scipy.linalg.block_diag(
                 B_X_W, jnp.eye(model.dofs())
             )
 
@@ -299,7 +299,7 @@ def jacobian(
             W_R_B = data.base_orientation(dcm=True)
             BW_H_B = jnp.eye(4).at[0:3, 0:3].set(W_R_B)
             B_X_BW = Adjoint.from_transform(transform=BW_H_B, inverse=True)
-            B_J_WL_I = B_J_WL_BW = B_J_WL_B @ jax.scipy.linalg.block_diag(  # noqa: F841
+            B_J_WL_I = B_J_WL_BW = B_J_WL_B @ jax.scipy.linalg.block_diag(
                 B_X_BW, jnp.eye(model.dofs())
             )
 
@@ -313,7 +313,7 @@ def jacobian(
         case VelRepr.Inertial:
             W_H_B = data.base_transform()
             W_X_B = Adjoint.from_transform(transform=W_H_B)
-            O_J_WL_I = W_J_WL_I = W_X_B @ B_J_WL_I  # noqa: F841
+            O_J_WL_I = W_J_WL_I = W_X_B @ B_J_WL_I
 
         case VelRepr.Body:
             L_X_B = Adjoint.from_transform(transform=B_H_L, inverse=True)
@@ -505,7 +505,7 @@ def jacobian_derivative(
             with data.switch_velocity_representation(VelRepr.Body):
                 B_v_WB = data.base_velocity()
 
-            O_Ẋ_B = W_Ẋ_B = W_X_B @ jaxsim.math.Cross.vx(B_v_WB)  # noqa: F841
+            O_Ẋ_B = W_Ẋ_B = W_X_B @ jaxsim.math.Cross.vx(B_v_WB)
 
         case VelRepr.Body:
 
@@ -519,9 +519,7 @@ def jacobian_derivative(
                 B_v_WB = data.base_velocity()
                 L_v_WL = js.link.velocity(model=model, data=data, link_index=link_index)
 
-            O_Ẋ_B = L_Ẋ_B = -L_X_B @ jaxsim.math.Cross.vx(  # noqa: F841
-                B_X_L @ L_v_WL - B_v_WB
-            )
+            O_Ẋ_B = L_Ẋ_B = -L_X_B @ jaxsim.math.Cross.vx(B_X_L @ L_v_WL - B_v_WB)
 
         case VelRepr.Mixed:
 
@@ -546,9 +544,8 @@ def jacobian_derivative(
             LW_v_LW_L = LW_v_WL - LW_v_W_LW
             LW_v_B_LW = LW_v_WL - LW_X_B @ B_v_WB - LW_v_LW_L
 
-            O_Ẋ_B = LW_Ẋ_B = -LW_X_B @ jaxsim.math.Cross.vx(  # noqa: F841
-                B_X_LW @ LW_v_B_LW
-            )
+            O_Ẋ_B = LW_Ẋ_B = -LW_X_B @ jaxsim.math.Cross.vx(B_X_LW @ LW_v_B_LW)
+
         case _:
             raise ValueError(output_vel_repr)
 

jaxsim/api/model.py

@@ -495,9 +495,8 @@ def generalized_free_floating_jacobian(
             W_H_B = data.base_transform()
             B_X_W = Adjoint.from_transform(transform=W_H_B, inverse=True)
 
-            B_J_full_WX_I = B_J_full_WX_W = (  # noqa: F841
-                B_J_full_WX_B
-                @ jax.scipy.linalg.block_diag(B_X_W, jnp.eye(model.dofs()))
+            B_J_full_WX_I = B_J_full_WX_W = B_J_full_WX_B @ jax.scipy.linalg.block_diag(
+                B_X_W, jnp.eye(model.dofs())
             )
 
         case VelRepr.Body:
@@ -510,7 +509,7 @@ def generalized_free_floating_jacobian(
             BW_H_B = jnp.eye(4).at[0:3, 0:3].set(W_R_B)
             B_X_BW = Adjoint.from_transform(transform=BW_H_B, inverse=True)
 
-            B_J_full_WX_I = B_J_full_WX_BW = (  # noqa: F841
+            B_J_full_WX_I = B_J_full_WX_BW = (
                 B_J_full_WX_B
                 @ jax.scipy.linalg.block_diag(B_X_BW, jnp.eye(model.dofs()))
             )
@@ -543,13 +542,11 @@ def generalized_free_floating_jacobian(
             W_H_B = data.base_transform()
             W_X_B = jaxsim.math.Adjoint.from_transform(W_H_B)
 
-            O_J_WL_I = W_J_WL_I = jax.vmap(  # noqa: F841
-                lambda B_J_WL_I: W_X_B @ B_J_WL_I
-            )(B_J_WL_I)
+            O_J_WL_I = W_J_WL_I = jax.vmap(lambda B_J_WL_I: W_X_B @ B_J_WL_I)(B_J_WL_I)
 
         case VelRepr.Body:
 
-            O_J_WL_I = L_J_WL_I = jax.vmap(  # noqa: F841
+            O_J_WL_I = L_J_WL_I = jax.vmap(
                 lambda B_H_L, B_J_WL_I: jaxsim.math.Adjoint.from_transform(
                     B_H_L, inverse=True
                 )
@@ -568,7 +565,7 @@ def generalized_free_floating_jacobian(
                 lambda LW_H_L, B_H_L: LW_H_L @ jaxsim.math.Transform.inverse(B_H_L)
             )(LW_H_L, B_H_L)
 
-            O_J_WL_I = LW_J_WL_I = jax.vmap(  # noqa: F841
+            O_J_WL_I = LW_J_WL_I = jax.vmap(
                 lambda LW_H_B, B_J_WL_I: jaxsim.math.Adjoint.from_transform(LW_H_B)
                 @ B_J_WL_I
             )(LW_H_B, B_J_WL_I)
@@ -579,41 +576,6 @@ 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,
@@ -759,8 +721,8 @@ def forward_dynamics_aba(
     match data.velocity_representation:
         case VelRepr.Inertial:
             # In this case C=W
-            W_H_C = W_H_W = jnp.eye(4)  # noqa: F841
-            W_v_WC = W_v_WW = jnp.zeros(6)  # noqa: F841
+            W_H_C = W_H_W = jnp.eye(4)
+            W_v_WC = W_v_WW = jnp.zeros(6)
 
         case VelRepr.Body:
             # In this case C=B
@@ -770,9 +732,9 @@ def forward_dynamics_aba(
         case VelRepr.Mixed:
             # In this case C=B[W]
             W_H_B = data.base_transform()
-            W_H_C = W_H_BW = W_H_B.at[0:3, 0:3].set(jnp.eye(3))  # noqa: F841
+            W_H_C = W_H_BW = W_H_B.at[0:3, 0:3].set(jnp.eye(3))
             W_ṗ_B = data.base_velocity()[0:3]
-            W_v_WC = W_v_W_BW = jnp.zeros(6).at[0:3].set(W_ṗ_B)  # noqa: F841
+            W_v_WC = W_v_W_BW = jnp.zeros(6).at[0:3].set(W_ṗ_B)
 
         case _:
             raise ValueError(data.velocity_representation)
@@ -1127,8 +1089,8 @@ def inverse_dynamics(
 
     match data.velocity_representation:
         case VelRepr.Inertial:
-            W_H_C = W_H_W = jnp.eye(4)  # noqa: F841
-            W_v_WC = W_v_WW = jnp.zeros(6)  # noqa: F841
+            W_H_C = W_H_W = jnp.eye(4)
+            W_v_WC = W_v_WW = jnp.zeros(6)
 
         case VelRepr.Body:
             W_H_C = W_H_B = data.base_transform()
@@ -1137,9 +1099,9 @@ def inverse_dynamics(
 
         case VelRepr.Mixed:
             W_H_B = data.base_transform()
-            W_H_C = W_H_BW = W_H_B.at[0:3, 0:3].set(jnp.eye(3))  # noqa: F841
+            W_H_C = W_H_BW = W_H_B.at[0:3, 0:3].set(jnp.eye(3))
             W_ṗ_B = data.base_velocity()[0:3]
-            W_v_WC = W_v_W_BW = jnp.zeros(6).at[0:3].set(W_ṗ_B)  # noqa: F841
+            W_v_WC = W_v_W_BW = jnp.zeros(6).at[0:3].set(W_ṗ_B)
 
         case _:
             raise ValueError(data.velocity_representation)
@@ -1574,15 +1536,15 @@ def link_bias_accelerations(
     # a simple C_X_W 6D transform.
     match data.velocity_representation:
         case VelRepr.Inertial:
-            W_H_C = W_H_W = jnp.eye(4)  # noqa: F841
-            W_v_WC = W_v_WW = jnp.zeros(6)  # noqa: F841
+            W_H_C = W_H_W = jnp.eye(4)
+            W_v_WC = W_v_WW = jnp.zeros(6)
             with data.switch_velocity_representation(VelRepr.Inertial):
                 C_v_WB = W_v_WB = data.base_velocity()
 
         case VelRepr.Body:
             W_H_C = W_H_B
             with data.switch_velocity_representation(VelRepr.Inertial):
-                W_v_WC = W_v_WB = data.base_velocity()  # noqa: F841
+                W_v_WC = W_v_WB = data.base_velocity()
             with data.switch_velocity_representation(VelRepr.Body):
                 C_v_WB = B_v_WB = data.base_velocity()
 
@@ -1593,9 +1555,9 @@ def link_bias_accelerations(
                 W_ṗ_B = data.base_velocity()[0:3]
                 BW_v_W_BW = jnp.zeros(6).at[0:3].set(W_ṗ_B)
                 W_X_BW = jaxsim.math.Adjoint.from_transform(transform=W_H_BW)
-                W_v_WC = W_v_W_BW = W_X_BW @ BW_v_W_BW  # noqa: F841
+                W_v_WC = W_v_W_BW = W_X_BW @ BW_v_W_BW
             with data.switch_velocity_representation(VelRepr.Mixed):
-                C_v_WB = BW_v_WB = data.base_velocity()  # noqa: F841
+                C_v_WB = BW_v_WB = data.base_velocity()
 
         case _:
             raise ValueError(data.velocity_representation)
@@ -1703,12 +1665,8 @@ def link_bias_accelerations(
 
     match data.velocity_representation:
         case VelRepr.Body:
-            C_H_L = L_H_L = jnp.stack(  # noqa: F841
-                [jnp.eye(4)] * model.number_of_links()
-            )
-            L_v_CL = L_v_LL = jnp.zeros(  # noqa: F841
-                shape=(model.number_of_links(), 6)
-            )
+            C_H_L = L_H_L = jnp.stack([jnp.eye(4)] * model.number_of_links())
+            L_v_CL = L_v_LL = jnp.zeros(shape=(model.number_of_links(), 6))
 
         case VelRepr.Inertial:
             C_H_L = W_H_L = js.model.forward_kinematics(model=model, data=data)
@@ -1718,9 +1676,7 @@ def link_bias_accelerations(
             W_H_L = js.model.forward_kinematics(model=model, data=data)
             LW_H_L = jax.vmap(lambda W_H_L: W_H_L.at[0:3, 3].set(jnp.zeros(3)))(W_H_L)
             C_H_L = LW_H_L
-            L_v_CL = L_v_LW_L = jax.vmap(  # noqa: F841
-                lambda v: v.at[0:3].set(jnp.zeros(3))
-            )(L_v_WL)
+            L_v_CL = L_v_LW_L = jax.vmap(lambda v: v.at[0:3].set(jnp.zeros(3)))(L_v_WL)
 
         case _:
             raise ValueError(data.velocity_representation)

jaxsim/api/references.py

@@ -8,7 +8,6 @@ import jax_dataclasses
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim import exceptions
 from jaxsim.utils.tracing import not_tracing
 
 from .common import VelRepr
@@ -31,7 +30,6 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
     @staticmethod
     def zero(
         model: js.model.JaxSimModel,
-        data: js.data.JaxSimModelData | None = None,
         velocity_representation: VelRepr = VelRepr.Inertial,
     ) -> JaxSimModelReferences:
         """
@@ -39,9 +37,6 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
 
         Args:
             model: The model for which to create the zero references.
-            data:
-                The data of the model, only needed if the velocity representation is
-                not inertial-fixed.
             velocity_representation: The velocity representation to use.
 
         Returns:
@@ -49,7 +44,7 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
         """
 
         return JaxSimModelReferences.build(
-            model=model, data=data, velocity_representation=velocity_representation
+            model=model, velocity_representation=velocity_representation
         )
 
     @staticmethod
@@ -446,104 +441,3 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
         return replace(
             forces=self.input.physics_model.f_ext.at[link_idxs, :].set(W_f0_L + W_f_L)
         )
-
-    def apply_frame_forces(
-        self,
-        forces: jtp.MatrixLike,
-        model: js.model.JaxSimModel,
-        data: js.data.JaxSimModelData,
-        frame_names: tuple[str, ...] | str | None = None,
-        additive: bool = False,
-    ) -> Self:
-        """
-        Apply the frame forces.
-
-        Args:
-            forces: The frame 6D forces in the active representation.
-            model:
-                The model to consider, only needed if a frame serialization different
-                from the implicit one is used.
-            data:
-                The data of the considered model, only needed if the velocity
-                representation is not inertial-fixed.
-            frame_names: The names of the frames corresponding to the forces.
-            additive:
-                Whether to add the forces to the existing ones instead of replacing them.
-
-        Returns:
-            A new `JaxSimModelReferences` object with the given frame forces.
-
-        Note:
-            The frame forces must be expressed in the active representation.
-            Then, we always convert and store forces in inertial-fixed representation.
-        """
-
-        f_F = jnp.atleast_2d(forces).astype(float)
-
-        # If we have the model, we can extract the frame names if not provided.
-        frame_names = frame_names if frame_names is not None else model.frame_names()
-
-        # Make sure that the frame names are a tuple if they are provided by the user.
-        frame_names = (frame_names,) if isinstance(frame_names, str) else frame_names
-
-        if len(frame_names) != f_F.shape[0]:
-            msg = "The number of frame names ({}) must match the number of forces ({})"
-            raise ValueError(msg.format(len(frame_names), f_F.shape[0]))
-
-        # Extract the frame indices.
-        frame_idxs = js.frame.names_to_idxs(frame_names=frame_names, model=model)
-        parent_link_idxs = jax.vmap(js.frame.idx_of_parent_link, in_axes=(None,))(
-            model, frame_index=frame_idxs
-        )
-
-        exceptions.raise_value_error_if(
-            condition=jnp.logical_not(data.valid(model=model)),
-            msg="The provided data is not valid for the model",
-        )
-        W_H_Fi = jax.vmap(
-            lambda frame_idx: js.frame.transform(
-                model=model, data=data, frame_index=frame_idx
-            )
-        )(frame_idxs)
-
-        # Helper function to convert a single 6D force to the inertial representation
-        # considering as body the frame (i.e. L_f_F and LW_f_F).
-        def to_inertial(f_F: jtp.MatrixLike, W_H_F: jtp.MatrixLike) -> jtp.Matrix:
-            return JaxSimModelReferences.other_representation_to_inertial(
-                array=f_F,
-                other_representation=self.velocity_representation,
-                transform=W_H_F,
-                is_force=True,
-            )
-
-        match self.velocity_representation:
-            case VelRepr.Inertial:
-                W_f_F = f_F
-
-            case VelRepr.Body | VelRepr.Mixed:
-                W_f_F = jax.vmap(to_inertial)(f_F, W_H_Fi)
-
-            case _:
-                raise ValueError("Invalid velocity representation.")
-
-        # Sum the forces on the parent links.
-        mask = parent_link_idxs[:, jnp.newaxis] == jnp.arange(model.number_of_links())
-        W_f_L = mask.T @ W_f_F
-
-        with self.switch_velocity_representation(
-            velocity_representation=VelRepr.Inertial
-        ):
-            references = self.apply_link_forces(
-                model=model,
-                data=data,
-                link_names=js.link.idxs_to_names(
-                    model=model, link_indices=parent_link_idxs
-                ),
-                forces=W_f_L,
-                additive=additive,
-            )
-
-        with references.switch_velocity_representation(
-            velocity_representation=self.velocity_representation
-        ):
-            return references

jaxsim/integrators/common.py

@@ -261,10 +261,8 @@ class ExplicitRungeKutta(Integrator[PyTreeType, PyTreeType], Generic[PyTreeType]
         # Check if the Butcher tableau supports FSAL (first-same-as-last).
         # If it does, store the index of the intermediate derivative to be used as the
         # first derivative of the next iteration.
-        has_fsal, index_of_fsal = (  # noqa: F841
-            ExplicitRungeKutta.butcher_tableau_supports_fsal(
-                A=cls.A, b=cls.b, c=cls.c, index_of_solution=cls.row_index_of_solution
-            )
+        has_fsal, index_of_fsal = ExplicitRungeKutta.butcher_tableau_supports_fsal(
+            A=cls.A, b=cls.b, c=cls.c, index_of_solution=cls.row_index_of_solution
         )
 
         # Build the integrator object.

jaxsim/math/adjoint.py

@@ -3,6 +3,7 @@ import jaxlie
 
 import jaxsim.typing as jtp
 
+from .quaternion import Quaternion
 from .skew import Skew
 
 
@@ -30,7 +31,7 @@ class Adjoint:
         assert quaternion.size == 4
         assert translation.size == 3
 
-        Q_sixd = jaxlie.SO3(wxyz=quaternion)
+        Q_sixd = jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(quaternion))
         Q_sixd = Q_sixd if not normalize_quaternion else Q_sixd.normalize()
 
         return Adjoint.from_rotation_and_translation(
@@ -83,14 +84,14 @@ class Adjoint:
         A_o_B = translation.squeeze()
 
         if not inverse:
-            X = A_X_B = jnp.vstack(  # noqa: F841
+            X = A_X_B = jnp.vstack(
                 [
                     jnp.block([A_R_B, Skew.wedge(A_o_B) @ A_R_B]),
                     jnp.block([jnp.zeros(shape=(3, 3)), A_R_B]),
                 ]
             )
         else:
-            X = B_X_A = jnp.vstack(  # noqa: F841
+            X = B_X_A = jnp.vstack(
                 [
                     jnp.block([A_R_B.T, -A_R_B.T @ Skew.wedge(A_o_B)]),
                     jnp.block([jnp.zeros(shape=(3, 3)), A_R_B.T]),

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_matrix(
-            matrix=jnp.eye(4).at[:3, :3].set(Rotation.from_axis_angle(vector=s * axis))
+        pre_H_suc = jaxlie.SE3.from_rotation(
+            rotation=jaxlie.SO3.from_matrix(Rotation.from_axis_angle(vector=s * axis))
         )
 
         S = jnp.vstack(jnp.hstack([jnp.zeros(3), axis]))

jaxsim/math/quaternion.py

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

jaxsim/math/transform.py

@@ -3,6 +3,8 @@ import jaxlie
 
 import jaxsim.typing as jtp
 
+from .quaternion import Quaternion
+
 
 class Transform:
 
@@ -33,7 +35,7 @@ class Transform:
         assert W_p_B.size == 3
         assert W_Q_B.size == 4
 
-        A_R_B = jaxlie.SO3(wxyz=W_Q_B)
+        A_R_B = jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(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/loaders.py

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

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, scalar_first=False
-            )
+            Rotation.from_matrix(orientation).as_quat(canonical=True)[
+                np.array([3, 0, 1, 2])
+            ]
             if dcm
             else orientation
         )
@@ -394,8 +394,8 @@ class MujocoModelHelper:
         if dcm:
             return R
 
-        q_xyzw = Rotation.from_matrix(R).as_quat(canonical=True, scalar_first=False)
-        return q_xyzw
+        q_xyzw = Rotation.from_matrix(R).as_quat(canonical=True)
+        return q_xyzw[[3, 0, 1, 2]]
 
     # ===============
     # 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, StandardGravity
+from jaxsim.math import Adjoint, Cross, Quaternion, 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(wxyz=W_Q_B),
+        rotation=jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(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, Skew
+from jaxsim.math import Adjoint, Quaternion, 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(wxyz=W_Q_B),
+        rotation=jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(wxyz=W_Q_B)),
         translation=W_p_B,
     )
 

jaxsim/rbda/contacts/soft.py

@@ -192,7 +192,7 @@ class SoftContacts(ContactModel):
 
         # Unpack the position of the collidable point.
         px, py, pz = W_p_C = position.squeeze()
-        W_ṗ_C = velocity.squeeze()
+        vx, vy, vz = W_ṗ_C = velocity.squeeze()
 
         # Compute the terrain normal and the contact depth.
         n̂ = self.terrain.normal(x=px, y=py).squeeze()

jaxsim/rbda/crba.py

@@ -59,14 +59,10 @@ def crba(model: js.model.JaxSimModel, *, joint_positions: jtp.Vector) -> jtp.Mat
 
         return (i_X_0,), None
 
-    (i_X_0,), _ = (
-        jax.lax.scan(
-            f=propagate_kinematics,
-            init=forward_pass_carry,
-            xs=jnp.arange(start=1, stop=model.number_of_links()),
-        )
-        if model.number_of_links() > 1
-        else [(i_X_0,), None]
+    (i_X_0,), _ = jax.lax.scan(
+        f=propagate_kinematics,
+        init=forward_pass_carry,
+        xs=jnp.arange(start=1, stop=model.number_of_links()),
     )
 
     # ===================
@@ -132,14 +128,10 @@ def crba(model: js.model.JaxSimModel, *, joint_positions: jtp.Vector) -> jtp.Mat
                 operand=carry,
             )
 
-        (j, Fi, M), _ = (
-            jax.lax.scan(
-                f=inner_fn,
-                init=carry_inner_fn,
-                xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
-            )
-            if model.number_of_links() > 1
-            else [(j, Fi, M), None]
+        (j, Fi, M), _ = jax.lax.scan(
+            f=inner_fn,
+            init=carry_inner_fn,
+            xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
         )
 
         Fi = i_X_0[j].T @ Fi
@@ -151,14 +143,10 @@ def crba(model: js.model.JaxSimModel, *, joint_positions: jtp.Vector) -> jtp.Mat
 
     # This scan performs the backward pass to compute Mbj, Mjb and Mjj, that
     # also includes a fake while loop implemented with a scan and two cond.
-    (Mc, M), _ = (
-        jax.lax.scan(
-            f=backward_pass,
-            init=backward_pass_carry,
-            xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
-        )
-        if model.number_of_links() > 1
-        else [(Mc, M), None]
+    (Mc, M), _ = jax.lax.scan(
+        f=backward_pass,
+        init=backward_pass_carry,
+        xs=jnp.flip(jnp.arange(start=1, stop=model.number_of_links())),
     )
 
     # Store the locked 6D rigid-body inertia matrix Mbb ∈ ℝ⁶ˣ⁶.

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
+from jaxsim.math import Adjoint, Quaternion
 
 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(wxyz=W_Q_B),
+        rotation=jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(wxyz=W_Q_B)),
         translation=W_p_B,
     )
 
@@ -75,14 +75,10 @@ def forward_kinematics_model(
 
         return (W_X_i,), None
 
-    (W_X_i,), _ = (
-        jax.lax.scan(
-            f=propagate_kinematics,
-            init=propagate_kinematics_carry,
-            xs=jnp.arange(start=1, stop=model.number_of_links()),
-        )
-        if model.number_of_links() > 1
-        else [(W_X_i,), None]
+    (W_X_i,), _ = jax.lax.scan(
+        f=propagate_kinematics,
+        init=propagate_kinematics_carry,
+        xs=jnp.arange(start=1, stop=model.number_of_links()),
     )
 
     return jax.vmap(Adjoint.to_transform)(W_X_i)

jaxsim/rbda/jacobian.py

@@ -67,14 +67,10 @@ def jacobian(
 
         return (i_X_0,), None
 
-    (i_X_0,), _ = (
-        jax.lax.scan(
-            f=propagate_kinematics,
-            init=propagate_kinematics_carry,
-            xs=np.arange(start=1, stop=model.number_of_links()),
-        )
-        if model.number_of_links() > 1
-        else [(i_X_0,), None]
+    (i_X_0,), _ = jax.lax.scan(
+        f=propagate_kinematics,
+        init=propagate_kinematics_carry,
+        xs=np.arange(start=1, stop=model.number_of_links()),
     )
 
     # ============================
@@ -109,14 +105,10 @@ def jacobian(
 
         return J, None
 
-    L_J_WL_B, _ = (
-        jax.lax.scan(
-            f=compute_jacobian,
-            init=J,
-            xs=np.arange(start=1, stop=model.number_of_links()),
-        )
-        if model.number_of_links() > 1
-        else [J, None]
+    L_J_WL_B, _ = jax.lax.scan(
+        f=compute_jacobian,
+        init=J,
+        xs=np.arange(start=1, stop=model.number_of_links()),
     )
 
     return L_J_WL_B
@@ -192,14 +184,10 @@ def jacobian_full_doubly_left(
 
         return (B_X_i, J), None
 
-    (B_X_i, J), _ = (
-        jax.lax.scan(
-            f=compute_full_jacobian,
-            init=compute_full_jacobian_carry,
-            xs=np.arange(start=1, stop=model.number_of_links()),
-        )
-        if model.number_of_links() > 1
-        else [(B_X_i, J), None]
+    (B_X_i, J), _ = jax.lax.scan(
+        f=compute_full_jacobian,
+        init=compute_full_jacobian_carry,
+        xs=np.arange(start=1, stop=model.number_of_links()),
     )
 
     # Convert adjoints to SE(3) transforms.

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, StandardGravity
+from jaxsim.math import Adjoint, Cross, Quaternion, 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(wxyz=W_Q_B),
+        rotation=jaxlie.SO3.from_quaternion_xyzw(xyzw=Quaternion.to_xyzw(wxyz=W_Q_B)),
         translation=W_p_B,
     )
 

{jaxsim-0.4.2.dist-info → jaxsim-0.4.2.dev12.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.2
+Version: 0.4.2.dev12
 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>
@@ -60,29 +60,29 @@ Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
-Requires-Dist: jax>=0.4.13
-Requires-Dist: jaxlib>=0.4.13
-Requires-Dist: jaxlie>=1.3.0
-Requires-Dist: jax-dataclasses>=1.4.0
+Requires-Dist: jax >=0.4.13
+Requires-Dist: jaxlib >=0.4.13
+Requires-Dist: jaxlie >=1.3.0
+Requires-Dist: jax-dataclasses >=1.4.0
 Requires-Dist: pptree
-Requires-Dist: rod>=0.3.0
-Requires-Dist: typing-extensions; python_version < "3.12"
+Requires-Dist: rod >=0.3.0
+Requires-Dist: typing-extensions ; python_version < "3.12"
 Provides-Extra: all
-Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
+Requires-Dist: jaxsim[style,testing,viz] ; extra == 'all'
 Provides-Extra: style
-Requires-Dist: black[jupyter]~=24.0; extra == "style"
-Requires-Dist: isort; extra == "style"
-Requires-Dist: pre-commit; extra == "style"
+Requires-Dist: black[jupyter] ~=24.0 ; extra == 'style'
+Requires-Dist: isort ; extra == 'style'
+Requires-Dist: pre-commit ; extra == 'style'
 Provides-Extra: testing
-Requires-Dist: idyntree>=12.2.1; extra == "testing"
-Requires-Dist: pytest>=6.0; extra == "testing"
-Requires-Dist: pytest-icdiff; extra == "testing"
-Requires-Dist: robot-descriptions; extra == "testing"
+Requires-Dist: idyntree >=12.2.1 ; extra == 'testing'
+Requires-Dist: pytest >=6.0 ; extra == 'testing'
+Requires-Dist: pytest-icdiff ; extra == 'testing'
+Requires-Dist: robot-descriptions ; extra == 'testing'
 Provides-Extra: viz
-Requires-Dist: lxml; extra == "viz"
-Requires-Dist: mediapy; extra == "viz"
-Requires-Dist: mujoco>=3.0.0; extra == "viz"
-Requires-Dist: scipy>=1.14.0; extra == "viz"
+Requires-Dist: lxml ; extra == 'viz'
+Requires-Dist: mediapy ; extra == 'viz'
+Requires-Dist: mujoco >=3.0.0 ; extra == 'viz'
+Requires-Dist: scipy >=1.14.0 ; extra == 'viz'
 
 # JaxSim
 
@@ -90,18 +90,6 @@ JaxSim is a **differentiable physics engine** and **multibody dynamics library**
 
 Its design facilitates research and accelerates prototyping in the intersection of robotics and artificial intelligence.
 
-<div align="center">
-<br/>
-<table>
-  <tr>
-    <th><img src="https://github.com/user-attachments/assets/115b1c1c-6ae5-4c59-92e0-1be13ba954db" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="250"></th>
-    <th><img src="https://github.com/user-attachments/assets/ae8adadf-3bca-47b8-97ca-3a9273633d60" width="250"></th>
-  </tr>
-</table>
-<br/>
-</div>
-
 ## Features
 
 - Physics engine in reduced coordinates supporting fixed-base and floating-base robots.

{jaxsim-0.4.2.dist-info → jaxsim-0.4.2.dev12.dist-info}/RECORD

@@ -1,38 +1,38 @@
 jaxsim/__init__.py,sha256=ixsS4dYMPex2wOUUp_rkPnwrPhYzkRh1xO_YuMj3Cr4,2626
-jaxsim/_version.py,sha256=McNH31cVzymi4jtwoAHwNiyVAdDW8uY0z3IcBioCvQI,411
+jaxsim/_version.py,sha256=RAx3CWTs9fxrkfMFaLp1UMf3oZxbRvQW5m-ab2iNDcg,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=m-p3EJDhpnMTlXKplfbZE_aH9NqX_VyLlAE3vUhc6l4,13642
+jaxsim/api/com.py,sha256=6TnYCvjmsJ2KLuw3NtZb0pay7ZwGKe9MKphYeQdjpQ0,13474
 jaxsim/api/common.py,sha256=Ubi6uAw3o6qbdU0TFGzUyHg98EnoMzrnlihrvrs95Sk,6653
-jaxsim/api/contact.py,sha256=yBLfjT01BxEZ1lnC0WBSJZwCXK9DnW_DBJxmo9arStE,19855
-jaxsim/api/data.py,sha256=T6m7-NteWrm-K3491Yo76xvlWtFCKqTzEE7Ughcasi8,27197
-jaxsim/api/frame.py,sha256=Lsx9OIao_UZOQ6ibB_rramCRiYQbQv-M8C1QdoQdgcA,12902
+jaxsim/api/contact.py,sha256=EcOx_T94gZT3igtebmW9FJDpZYPEf-RwKfFN18JjOWM,13364
+jaxsim/api/data.py,sha256=-xx4b11thP8oJEXB4xtgrh3RTY2-BxrT38b7s_GrzjA,27420
+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=GlnY7LMne-siFyg9J49IZGhiPQzS9Uk6rzQ0jI8cD_E,18622
-jaxsim/api/model.py,sha256=EdSjpKXd4N72wYjg5o0wGKFxjVMyrXg6LnlPEi3JqnU,63094
+jaxsim/api/link.py,sha256=hn7fbxaebHeXnvwEG9jZiWwzRcfdS8m-18LVsIG3S24,18479
+jaxsim/api/model.py,sha256=PMTSz00AIVopwiJ3zGBoYPTtkLH_beJCcQsX9wBE38I,61502
 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=XOVKuQXRmjPoP-T5JWGSbqIGX5DzOkeGafqRpj0ZQEM,20771
+jaxsim/api/references.py,sha256=UA6kSQVBoq-bXSo99EOELf-_MD5MTy2zS0GtG3wQ410,16618
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
-jaxsim/integrators/common.py,sha256=GqiyKTrAozuR6RuvVWdPF7locZQAXSEDY2AjTKpFGYM,20149
+jaxsim/integrators/common.py,sha256=iwFykYZxdchqJcmcx8MFWEVijS5Hx9wCNKLKAJdF4gE,20103
 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=o1FCipkGwPtMbN2gFNIyUV8ADF3TX5fxElpTEXK0bIs,4377
+jaxsim/math/adjoint.py,sha256=DT21izjVW497GRrgNfx8tv0ZeWW5QncWMGMhI0acUNw,4425
 jaxsim/math/cross.py,sha256=U7yEx_l75mSy5g6O-jsjBztApvxC3WaV4MpkS5tThu4,1330
 jaxsim/math/inertia.py,sha256=UAB7ym4gXFanejcs_ovZMpteHCc6poWYmt-mLmd5hhk,1640
-jaxsim/math/joint_model.py,sha256=VZ3hRCgb0gsyI1wN1UdHkmaRMBxjAYQK1i_3WIvkdUA,9994
-jaxsim/math/quaternion.py,sha256=_WA7W3iv7px83sWO1V1n0-J78hqAlO4SL1-jofE-UZ4,4754
+jaxsim/math/joint_model.py,sha256=cVD9G8tBCsYtXC-r2BkVYO8Jg_km_BhJr7dezh3x6Rw,9995
+jaxsim/math/quaternion.py,sha256=A05m7syBTIpl3SrsB7F76NNbExtUyJAdvHMavjNManI,4863
 jaxsim/math/rotation.py,sha256=Z90daUjGpuNEVLfWB3SVtM9EtwAIaneVj9A9UpWXqhA,2182
 jaxsim/math/skew.py,sha256=oOGSSR8PUGROl6IJFlrmu6K3gPH-u16hUPfKIkcVv9o,1177
-jaxsim/math/transform.py,sha256=KXzQgOnCfAtbXCwxhplpJ3F0JT3oEyeLVby1_uRAryQ,2892
+jaxsim/math/transform.py,sha256=_5kSnfkS6_vxvjxdw50KeXMjvW8e1OGaumUlk1iGJgc,2969
 jaxsim/mujoco/__init__.py,sha256=Zo5GAlN1DYKvX8s1hu1j6HntKIbBMLB9Puv9ouaNAZ8,158
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=t9kWyvTJoMChBs8WMaZEPH1Y_smp_A9go6XT6rHcPEU,25301
-jaxsim/mujoco/model.py,sha256=ZqqHBDnB-y8ueHydD0Ujbg4ALyLUpB_6r_9r0sENQvI,16359
+jaxsim/mujoco/loaders.py,sha256=He55jmkC5wQpMhEIDHOXXbqgWNjJ2fx16wOTStp_3PA,25111
+jaxsim/mujoco/model.py,sha256=EwUPg9BsNv1B7TdDfjZCpC022lDR16AyIAajPJGH7NU,16357
 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
@@ -45,24 +45,24 @@ 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=w7ciyxB0IsmueatT0C7PcBQEl9dyiH9oqJgIi3xeTUE,8983
-jaxsim/rbda/collidable_points.py,sha256=Rmf1DhflhOTYh9mDalv0agS0CGSbmfoOybwP2KzKuJ0,4883
-jaxsim/rbda/crba.py,sha256=zJSiHKRvNU98z2tT9prrWR4VU9wIZQWFwEut7mua6as,5044
-jaxsim/rbda/forward_kinematics.py,sha256=2GmEoWsrioVl_SAbKRKfhOLz57pY4aR81PKRdulqStA,3458
-jaxsim/rbda/jacobian.py,sha256=p0EV_8cLzLVV-93VKznT7VPuRj8W7h7rQWkPlWJXfCA,11023
-jaxsim/rbda/rnea.py,sha256=LGXD6s3NigaVy4-WxoROjnbKLZcUoyFmS9UNu_4ldjo,7568
+jaxsim/rbda/aba.py,sha256=IyeeCOF5nD-WSkRT5nMYtLuC0RWiyJQHlcyWDjQqliQ,9041
+jaxsim/rbda/collidable_points.py,sha256=fQBZonoiLSSgHNpsa4mwe5wsA1j7jb2b_0D9z_oqKWo,4941
+jaxsim/rbda/crba.py,sha256=NhtZO48OUKKor7ddY7mB7h7a6idrmOyf0Vy4p7UCCgI,4724
+jaxsim/rbda/forward_kinematics.py,sha256=OEQYovnLKsWphUKhigmWa_384LwZW3Csp0MKufw4e1M,3415
+jaxsim/rbda/jacobian.py,sha256=I6mrlkk7Cpq3CE7k_tajOHCbT6vf2pW6vMS0TKNCnng,10725
+jaxsim/rbda/rnea.py,sha256=UrhcL93fp3pAKlGxOPS6X47L0ferH50bcSMzG55t4zY,7626
 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
-jaxsim/rbda/contacts/soft.py,sha256=_wvb5iZDjGcVg6rNQelN4LZN7qSC2NIp0HdKvZmlGfk,15647
+jaxsim/rbda/contacts/soft.py,sha256=3cDynim_tIgcbzRuqpHN82v4ELlxxK6lR-PG0haSK7Q,15660
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=ctyNANIFSM3tZmamprjaEDcWgUSP0oNJbmT1zw9RjPs,4565
 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.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.2.dist-info/METADATA,sha256=7k6l7OO00B6czQi7O1MPCpjcbL1qxeSwy19khRT4FXc,17221
-jaxsim-0.4.2.dist-info/WHEEL,sha256=nCVcAvsfA9TDtwGwhYaRrlPhTLV9m-Ga6mdyDtuwK18,91
-jaxsim-0.4.2.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.2.dist-info/RECORD,,
+jaxsim-0.4.2.dev12.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.2.dev12.dist-info/METADATA,sha256=bxPCWzVduanZPJ4ZuYkXTKkRCyyu-rjDSRd64c4oKpw,16826
+jaxsim-0.4.2.dev12.dist-info/WHEEL,sha256=-oYQCr74JF3a37z2nRlQays_SX2MqOANoqVjBBAP2yE,91
+jaxsim-0.4.2.dev12.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.2.dev12.dist-info/RECORD,,

{jaxsim-0.4.2.dist-info → jaxsim-0.4.2.dev12.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (73.0.0)
+Generator: setuptools (71.0.3)
 Root-Is-Purelib: true
 Tag: py3-none-any