jaxsim 0.4.3.dev181__py3-none-any.whl → 0.4.3.dev200__py3-none-any.whl

jaxsim/rbda/contacts/rigid.py

@@ -13,6 +13,7 @@ from jaxsim import logging
 from jaxsim.api.common import ModelDataWithVelocityRepresentation, VelRepr
 from jaxsim.terrain import FlatTerrain, Terrain
 
+from . import common
 from .common import ContactModel, ContactsParams
 
 try:
@@ -170,46 +171,6 @@ class RigidContacts(ContactModel):
             _solver_options_values=tuple(solver_options.values()),
         )
 
-    @staticmethod
-    def detect_contacts(
-        W_p_C: jtp.ArrayLike,
-        terrain_height: jtp.ArrayLike,
-    ) -> tuple[jtp.Vector, jtp.Vector]:
-        """
-        Detect contacts between the collidable points and the terrain.
-
-        Args:
-            W_p_C: The position of the collidable points.
-            terrain_height: The height of the terrain at the collidable point position.
-
-        Returns:
-            A tuple containing the activation state of the collidable points
-            and the contact penetration depth h.
-        """
-
-        # TODO: reduce code duplication with js.contact.in_contact
-        def detect_contact(
-            W_p_C: jtp.ArrayLike,
-            terrain_height: jtp.FloatLike,
-        ) -> tuple[jtp.Bool, jtp.Float]:
-            """
-            Detect contacts between the collidable points and the terrain.
-            """
-
-            # Unpack the position of the collidable point.
-            _, _, pz = W_p_C.squeeze()
-
-            inactive = pz > terrain_height
-
-            # Compute contact penetration depth
-            h = jnp.maximum(0.0, terrain_height - pz)
-
-            return inactive, h
-
-        inactive_collidable_points, h = jax.vmap(detect_contact)(W_p_C, terrain_height)
-
-        return inactive_collidable_points, h
-
     @staticmethod
     def compute_impact_velocity(
         inactive_collidable_points: jtp.ArrayLike,
@@ -281,7 +242,7 @@ class RigidContacts(ContactModel):
         *,
         link_forces: jtp.MatrixLike | None = None,
         joint_force_references: jtp.VectorLike | None = None,
-    ) -> tuple[jtp.Vector, tuple[Any, ...]]:
+    ) -> tuple[jtp.Matrix, tuple]:
         """
         Compute the contact forces.
 
@@ -295,36 +256,41 @@ class RigidContacts(ContactModel):
                 Optional `(n_joints,)` vector of joint forces.
 
         Returns:
-            A tuple containing the contact forces.
+            A tuple containing as first element the computed contact forces.
         """
 
         # Initialize the model and data this contact model is operating on.
         # This will raise an exception if either the contact model or the
         # contact parameters are not compatible.
         model, data = self.initialize_model_and_data(model=model, data=data)
+        assert isinstance(data.contacts_params, RigidContactsParams)
 
-        # Import qpax just in this method
+        # Import qpax privately just in this method.
         import qpax
 
-        link_forces = (
-            link_forces
+        link_forces = jnp.atleast_2d(
+            jnp.array(link_forces, dtype=float).squeeze()
             if link_forces is not None
             else jnp.zeros((model.number_of_links(), 6))
         )
 
-        joint_force_references = (
-            joint_force_references
+        joint_force_references = jnp.atleast_1d(
+            jnp.array(joint_force_references, dtype=float).squeeze()
             if joint_force_references is not None
             else jnp.zeros((model.number_of_joints(),))
         )
 
-        # Compute kin-dyn quantities used in the contact model
+        # Compute kin-dyn quantities used in the contact model.
         with data.switch_velocity_representation(VelRepr.Mixed):
+
+            BW_ν = data.generalized_velocity()
+
             M = js.model.free_floating_mass_matrix(model=model, data=data)
+
             J_WC = js.contact.jacobian(model=model, data=data)
+            J̇_WC = js.contact.jacobian_derivative(model=model, data=data)
+
             W_H_C = js.contact.transforms(model=model, data=data)
-            J̇_WC_BW = js.contact.jacobian_derivative(model=model, data=data)
-            BW_ν = data.generalized_velocity()
 
         # Compute the position and linear velocities (mixed representation) of
         # all collidable points belonging to the robot.
@@ -332,23 +298,16 @@ class RigidContacts(ContactModel):
             model=model, data=data
         )
 
-        terrain_height = jax.vmap(self.terrain.height)(position[:, 0], position[:, 1])
-        n_collidable_points = model.kin_dyn_parameters.contact_parameters.point.shape[0]
+        # Get the number of collidable points.
+        n_collidable_points = len(model.kin_dyn_parameters.contact_parameters.body)
 
-        # Compute the activation state of the collidable points
-        inactive_collidable_points, h = RigidContacts.detect_contacts(
-            W_p_C=position,
-            terrain_height=terrain_height,
-        )
-
-        # Compute the Delassus matrix.
-        delassus_matrix = RigidContacts._delassus_matrix(M=M, J_WC=J_WC)
-
-        # Add regularization for better numerical conditioning.
-        delassus_matrix = delassus_matrix + self.regularization_delassus * jnp.eye(
-            delassus_matrix.shape[0]
+        # Compute the penetration depth and velocity of the collidable points.
+        # Note that this function considers the penetration in the normal direction.
+        δ, δ_dot, n̂ = jax.vmap(common.compute_penetration_data, in_axes=(0, 0, None))(
+            position, velocity, model.terrain
         )
 
+        # Build a references object to simplify converting link forces.
         references = js.references.JaxSimModelReferences.build(
             model=model,
             data=data,
@@ -357,10 +316,12 @@ class RigidContacts(ContactModel):
             joint_force_references=joint_force_references,
         )
 
+        # Compute the generalized free acceleration.
         with (
             references.switch_velocity_representation(VelRepr.Mixed),
             data.switch_velocity_representation(VelRepr.Mixed),
         ):
+
             BW_ν̇_free = jnp.hstack(
                 js.ode.system_acceleration(
                     model=model,
@@ -372,64 +333,74 @@ class RigidContacts(ContactModel):
                 )
             )
 
+        # Compute the free linear acceleration of the collidable points.
+        # Since we use doubly-mixed jacobian, this corresponds to W_p̈_C.
         free_contact_acc = RigidContacts._linear_acceleration_of_collidable_points(
             BW_nu=BW_ν,
             BW_nu_dot=BW_ν̇_free,
             CW_J_WC_BW=J_WC,
-            CW_J_dot_WC_BW=J̇_WC_BW,
+            CW_J_dot_WC_BW=J̇_WC,
         ).flatten()
 
-        # Compute stabilization term
-        ḣ = velocity[:, 2].squeeze()
+        # Compute stabilization term.
         baumgarte_term = RigidContacts._compute_baumgarte_stabilization_term(
-            inactive_collidable_points=inactive_collidable_points,
-            h=h,
-            ḣ=ḣ,
-            K=self.parameters.K,
-            D=self.parameters.D,
+            inactive_collidable_points=(δ <= 0),
+            δ=δ,
+            δ_dot=δ_dot,
+            n=n̂,
+            K=data.contacts_params.K,
+            D=data.contacts_params.D,
         ).flatten()
 
-        free_contact_acc -= baumgarte_term
+        # Compute the Delassus matrix.
+        delassus_matrix = RigidContacts._delassus_matrix(M=M, J_WC=J_WC)
+
+        # Initialize regularization term of the Delassus matrix for
+        # better numerical conditioning.
+        Iε = self.regularization_delassus * jnp.eye(delassus_matrix.shape[0])
+
+        # Construct the quadratic cost function.
+        Q = delassus_matrix + Iε
+        q = free_contact_acc - baumgarte_term
 
-        # Setup optimization problem
-        Q = delassus_matrix
-        q = free_contact_acc
+        # Construct the inequality constraints.
         G = RigidContacts._compute_ineq_constraint_matrix(
-            inactive_collidable_points=inactive_collidable_points, mu=self.parameters.mu
+            inactive_collidable_points=(δ <= 0), mu=data.contacts_params.mu
         )
         h_bounds = RigidContacts._compute_ineq_bounds(
             n_collidable_points=n_collidable_points
         )
+
+        # Construct the equality constraints.
         A = jnp.zeros((0, 3 * n_collidable_points))
         b = jnp.zeros((0,))
 
-        # Solve the optimization problem
-        solution, *_ = qpax.solve_qp(
+        # Solve the following optimization problem with qpax:
+        #
+        # min_{x} 0.5 x⊤ Q x + q⊤ x
+        #
+        # s.t. A x = b
+        #      G x ≤ h
+        #
+        # TODO: add possibility to notify if the QP problem did not converge.
+        solution, _, _, _, converged, _ = qpax.solve_qp(  # noqa: F841
             Q=Q, q=q, A=A, b=b, G=G, h=h_bounds, **self.solver_options
         )
 
-        f_C_lin = solution.reshape(-1, 3)
-
-        # Transform linear contact forces to 6D
-        CW_f_C = jnp.hstack(
-            (
-                f_C_lin,
-                jnp.zeros((f_C_lin.shape[0], 3)),
-            )
-        )
+        # Reshape the optimized solution to be a matrix of 3D contact forces.
+        CW_fl_C = solution.reshape(-1, 3)
 
-        # Transform the contact forces to inertial-fixed representation
+        # Convert the contact forces from mixed to inertial-fixed representation.
         W_f_C = jax.vmap(
-            lambda CW_f_C, W_H_C: ModelDataWithVelocityRepresentation.other_representation_to_inertial(
-                array=CW_f_C,
-                transform=W_H_C,
-                other_representation=VelRepr.Mixed,
-                is_force=True,
+            lambda CW_fl_C, W_H_C: (
+                ModelDataWithVelocityRepresentation.other_representation_to_inertial(
+                    array=jnp.zeros(6).at[0:3].set(CW_fl_C),
+                    transform=W_H_C,
+                    other_representation=VelRepr.Mixed,
+                    is_force=True,
+                )
             ),
-        )(
-            CW_f_C,
-            W_H_C,
-        )
+        )(CW_fl_C, W_H_C)
 
         return W_f_C, ()
 
@@ -438,6 +409,7 @@ class RigidContacts(ContactModel):
         M: jtp.MatrixLike,
         J_WC: jtp.MatrixLike,
     ) -> jtp.Matrix:
+
         sl = jnp.s_[:, 0:3, :]
         J_WC_lin = jnp.vstack(J_WC[sl])
 
@@ -448,6 +420,7 @@ class RigidContacts(ContactModel):
     def _compute_ineq_constraint_matrix(
         inactive_collidable_points: jtp.Vector, mu: jtp.FloatLike
     ) -> jtp.Matrix:
+
         def compute_G_single_point(mu: float, c: float) -> jtp.Matrix:
             """
             Compute the inequality constraint matrix for a single collidable point
@@ -475,6 +448,7 @@ class RigidContacts(ContactModel):
 
     @staticmethod
     def _compute_ineq_bounds(n_collidable_points: jtp.FloatLike) -> jtp.Vector:
+
         n_constraints = 6 * n_collidable_points
         return jnp.zeros(shape=(n_constraints,))
 
@@ -485,45 +459,50 @@ class RigidContacts(ContactModel):
         CW_J_WC_BW: jtp.MatrixLike,
         CW_J_dot_WC_BW: jtp.MatrixLike,
     ) -> jtp.Matrix:
-        CW_J̇_WC_BW = CW_J_dot_WC_BW
+
         BW_ν = BW_nu
         BW_ν̇ = BW_nu_dot
+        CW_J̇_WC_BW = CW_J_dot_WC_BW
 
+        # Compute the linear acceleration of the collidable points.
+        # Since we use doubly-mixed jacobians, this corresponds to W_p̈_C.
         CW_a_WC = jnp.vstack(CW_J̇_WC_BW) @ BW_ν + jnp.vstack(CW_J_WC_BW) @ BW_ν̇
-        CW_a_WC = CW_a_WC.reshape(-1, 6)
 
+        CW_a_WC = CW_a_WC.reshape(-1, 6)
         return CW_a_WC[:, 0:3].squeeze()
 
     @staticmethod
     def _compute_baumgarte_stabilization_term(
         inactive_collidable_points: jtp.ArrayLike,
-        h: jtp.ArrayLike,
-        ḣ: jtp.ArrayLike,
+        δ: jtp.ArrayLike,
+        δ_dot: jtp.ArrayLike,
+        n: jtp.ArrayLike,
         K: jtp.FloatLike,
         D: jtp.FloatLike,
     ) -> jtp.Array:
-        def baumgarte_stabilization(
+
+        def baumgarte_stabilization_of_single_point(
             inactive: jtp.BoolLike,
-            h: jtp.FloatLike,
-            ḣ: jtp.FloatLike,
+            δ: jtp.FloatLike,
+            δ_dot: jtp.FloatLike,
+            n: jtp.ArrayLike,
             k_baumgarte: jtp.FloatLike,
             d_baumgarte: jtp.FloatLike,
         ) -> jtp.Array:
+
             baumgarte_term = jax.lax.cond(
                 inactive,
-                lambda h, ḣ, K, D: jnp.zeros(shape=(3,)),
-                lambda h, ḣ, K, D: jnp.zeros(shape=(3,)).at[2].set(K * h + D * ḣ),
-                *(
-                    h,
-                    ḣ,
-                    k_baumgarte,
-                    d_baumgarte,
-                ),
+                lambda δ, δ_dot, n, K, D: jnp.zeros(3),
+                # This is equivalent to: K*(pT - p)⋅n̂ + D*(0 - v)⋅n̂,
+                # where pT is the point on the terrain surface vertical to p.
+                lambda δ, δ_dot, n, K, D: (K * δ + D * δ_dot) * n,
+                *(δ, δ_dot, n, k_baumgarte, d_baumgarte),
             )
+
             return baumgarte_term
 
         baumgarte_term = jax.vmap(
-            baumgarte_stabilization, in_axes=(0, 0, 0, None, None)
-        )(inactive_collidable_points, h, ḣ, K, D)
+            baumgarte_stabilization_of_single_point, in_axes=(0, 0, 0, 0, None, None)
+        )(inactive_collidable_points, δ, δ_dot, n, K, D)
 
         return baumgarte_term

jaxsim/rbda/contacts/soft.py

@@ -14,7 +14,7 @@ from jaxsim import logging
 from jaxsim.math import StandardGravity
 from jaxsim.terrain import FlatTerrain, Terrain
 
-from .common import ContactModel, ContactsParams
+from . import common
 
 try:
     from typing import Self
@@ -23,7 +23,7 @@ except ImportError:
 
 
 @jax_dataclasses.pytree_dataclass
-class SoftContactsParams(ContactsParams):
+class SoftContactsParams(common.ContactsParams):
     """Parameters of the soft contacts model."""
 
     K: jtp.Float = dataclasses.field(
@@ -161,7 +161,9 @@ class SoftContactsParams(ContactsParams):
         f_average = m * g / number_of_active_collidable_points_steady_state
 
         # Compute the stiffness to get the desired steady-state penetration.
-        K = f_average / jnp.power(δ_max, 3 / 2)
+        # Note that this is dependent on the non-linear exponent used in
+        # the damping term of the Hunt/Crossley model.
+        K = f_average / jnp.power(δ_max, 1 + p)
 
         # Compute the damping using the damping ratio.
         critical_damping = 2 * jnp.sqrt(K * m)
@@ -189,7 +191,7 @@ class SoftContactsParams(ContactsParams):
 
 
 @jax_dataclasses.pytree_dataclass
-class SoftContacts(ContactModel):
+class SoftContacts(common.ContactModel):
     """Soft contacts model."""
 
     parameters: SoftContactsParams = dataclasses.field(
@@ -277,9 +279,7 @@ class SoftContacts(ContactModel):
         μ = mu
 
         # Compute the penetration depth, its rate, and the considered terrain normal.
-        δ, δ̇, n̂ = SoftContacts.compute_penetration_data(
-            p=W_p_C, v=W_ṗ_C, terrain=terrain
-        )
+        δ, δ̇, n̂ = common.compute_penetration_data(p=W_p_C, v=W_ṗ_C, terrain=terrain)
 
         # There are few operations like computing the norm of a vector with zero length
         # or computing the square root of zero that are problematic in an AD context.
@@ -423,7 +423,18 @@ class SoftContacts(ContactModel):
         self,
         model: js.model.JaxSimModel,
         data: js.data.JaxSimModelData,
-    ) -> tuple[jtp.Vector, tuple[jtp.Vector]]:
+    ) -> tuple[jtp.Matrix, tuple[jtp.Matrix]]:
+        """
+        Compute the contact forces.
+
+        Args:
+            model: The model to consider.
+            data: The data of the considered model.
+
+        Returns:
+            A tuple containing as first element the computed contact forces, and as
+            second element the derivative of the material deformation.
+        """
 
         # Initialize the model and data this contact model is operating on.
         # This will raise an exception if either the contact model or the
@@ -444,36 +455,9 @@ class SoftContacts(ContactModel):
                 position=p,
                 velocity=v,
                 tangential_deformation=m,
-                parameters=self.parameters,
-                terrain=self.terrain,
+                parameters=data.contacts_params,
+                terrain=model.terrain,
             )
         )(W_p_C, W_ṗ_C, m)
 
         return W_f, (ṁ,)
-
-    @staticmethod
-    @jax.jit
-    def compute_penetration_data(
-        p: jtp.VectorLike,
-        v: jtp.VectorLike,
-        terrain: jaxsim.terrain.Terrain,
-    ) -> tuple[jtp.Float, jtp.Float, jtp.Vector]:
-
-        # Pre-process the position and the linear velocity of the collidable point.
-        W_ṗ_C = jnp.array(v).squeeze()
-        px, py, pz = jnp.array(p).squeeze()
-
-        # Compute the terrain normal and the contact depth.
-        n̂ = terrain.normal(x=px, y=py).squeeze()
-        h = jnp.array([0, 0, terrain.height(x=px, y=py) - pz])
-
-        # Compute the penetration depth normal to the terrain.
-        δ = jnp.maximum(0.0, jnp.dot(h, n̂))
-
-        # Compute the penetration normal velocity.
-        δ̇ = -jnp.dot(W_ṗ_C, n̂)
-
-        # Enforce the penetration rate to be zero when the penetration depth is zero.
-        δ̇ = jnp.where(δ > 0, δ̇, 0.0)
-
-        return δ, δ̇, n̂

jaxsim/rbda/contacts/visco_elastic.py

@@ -195,7 +195,7 @@ class ViscoElasticContacts(common.ContactModel):
         default_factory=FlatTerrain
     )
 
-    max_squarings: jax_dataclasses.Static[int] = 25
+    max_squarings: jax_dataclasses.Static[int] = dataclasses.field(default=25)
 
     @classmethod
     def build(
@@ -239,7 +239,7 @@ class ViscoElasticContacts(common.ContactModel):
             parameters=parameters,
             terrain=terrain or cls.__dataclass_fields__["terrain"].default_factory(),
             max_squarings=int(
-                max_squarings or cls.__dataclass_fields__["max_squarings"].default()
+                max_squarings or cls.__dataclass_fields__["max_squarings"].default
             ),
         )
 
@@ -266,7 +266,7 @@ class ViscoElasticContacts(common.ContactModel):
         dt: jtp.FloatLike | None = None,
         link_forces: jtp.MatrixLike | None = None,
         joint_force_references: jtp.VectorLike | None = None,
-    ) -> tuple[jtp.Vector, tuple[Any, ...]]:
+    ) -> tuple[jtp.Matrix, tuple[jtp.Matrix, jtp.Matrix]]:
         """
         Compute the contact forces.
 

{jaxsim-0.4.3.dev181.dist-info → jaxsim-0.4.3.dev200.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev181
+Version: 0.4.3.dev200
 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-0.4.3.dev181.dist-info → jaxsim-0.4.3.dev200.dist-info}/RECORD

@@ -1,18 +1,18 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=2YMpT461ObsI3rceAHrUVR-OPYPsQ43SHkzRH20mlDY,428
+jaxsim/_version.py,sha256=WDziMJEeSmuE81cozOtxmazlb4qAX6VPTrKOR0f3akg,428
 jaxsim/exceptions.py,sha256=vSoScaRD4nvh6jltgK9Ry5pKnE0O5hb4_yI_pk_fvR8,2175
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=2HXy9hgazPXjofi1vLQ09ZubPtgVmg80U9NKmZ6NYiI,761
 jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
 jaxsim/api/com.py,sha256=m-p3EJDhpnMTlXKplfbZE_aH9NqX_VyLlAE3vUhc6l4,13642
 jaxsim/api/common.py,sha256=SNgxq42r6eF_-aPszvOjUYkGwXOzz4hKmhDwEUkscFQ,6650
-jaxsim/api/contact.py,sha256=2qBIStXWxIJTrW3Eyx6UPQcTXDXalOyasgD7Pk1_v1E,24486
-jaxsim/api/data.py,sha256=sfu_uJtYRQIf_sg9IWzR95McRdZgtHwArAuzF6KD-1A,28939
+jaxsim/api/contact.py,sha256=Egc62310ljn5goXlswwJYSB-LyW6M5gmPoT_a3mkd7U,25812
+jaxsim/api/data.py,sha256=gQX6hfEaw0ooJYvpr5f8UvEJwqhtflEK_NHWn9XgTZY,28935
 jaxsim/api/frame.py,sha256=KS8A5wRfjxhe9NgcVo2QA516iP5zky7UVnWxG7nTa7c,12911
 jaxsim/api/joint.py,sha256=lksT1Doxz2jknHyhb4ls20z6f6dofpZSzBJtVacZXAE,7129
 jaxsim/api/kin_dyn_parameters.py,sha256=thJbz9XhpXgom23S6MXX2ugxGoAD-k947ZMAHDisy2w,29620
 jaxsim/api/link.py,sha256=LAA6ZMQXkWomXeptURBtc7z3_xDZ2BBnBMhVrohh0bE,18621
-jaxsim/api/model.py,sha256=-Au3Xdm3TJLyKN_r06pr9G99zmzjNhDI4KZz4xox7iE,69783
+jaxsim/api/model.py,sha256=s2i4obxMjZ_XntJgT0dEV57LCo0GIC7VppUnxsqC1fc,69704
 jaxsim/api/ode.py,sha256=J_WuaoPl3ZY-yvTrCQun-rQoIAv_duynSXAGxqx93sg,14211
 jaxsim/api/ode_data.py,sha256=1SD-x-lYk_YSEnVpxTLd69uOKC0mFUj44ZqpSmEDOxw,20190
 jaxsim/api/references.py,sha256=fW77LitZ8DYgT6ZmUInJfm5luBV1mTcqcNRiC_i79og,20862
@@ -29,11 +29,12 @@ jaxsim/math/quaternion.py,sha256=_WA7W3iv7px83sWO1V1n0-J78hqAlO4SL1-jofE-UZ4,475
 jaxsim/math/rotation.py,sha256=k-nwT79zmWrys3NNAB-lGWxat7Kqm_6JnFRoimJ8rBg,2156
 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/__init__.py,sha256=fZyRWre49pIhOrYdf6yJk_hOax8qWGe8OCmoq-dMVq8,201
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
-jaxsim/mujoco/loaders.py,sha256=qT7Le_L7z2prXKA7O9x5rkbbh-_lIrrmLXTjgoAjhZ4,25339
-jaxsim/mujoco/model.py,sha256=AQksXemXWACJ3yvefV2G5HLwwBU9ISoJrOD1wlxdY5w,16386
-jaxsim/mujoco/visualizer.py,sha256=T1vU-w4NKSmgEkZ0FqVcGmIvYrYO0len2UBSsU4MOZ0,6978
+jaxsim/mujoco/loaders.py,sha256=CkFGydgOku5P_Pz7wdWlM2SCJRs71ePF-vsY9i90-I0,25350
+jaxsim/mujoco/model.py,sha256=5_7rWk_WBkNKDHqeewIFj0t2ZGqJpE6RDXHSbRvw4e4,16493
+jaxsim/mujoco/utils.py,sha256=bGbLMSzcdqbinIwHHJHt8ZN1uup_6DLdB2dWqKiXwO4,3955
+jaxsim/mujoco/visualizer.py,sha256=nD6SNWmn-nxjjjIY9oPAHvL2j8q93DJDjZeepzke_DQ,6988
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/parsers/kinematic_graph.py,sha256=wT2bgaCS8VQJTHy2H9sENkVPDOiMkRikxEF1t_WaahQ,34748
 jaxsim/parsers/descriptions/__init__.py,sha256=PbIlunVfb59pB5jSX97YVpMAANRZPRkJ0X-hS14rzv4,221
@@ -52,20 +53,20 @@ jaxsim/rbda/forward_kinematics.py,sha256=2GmEoWsrioVl_SAbKRKfhOLz57pY4aR81PKRdul
 jaxsim/rbda/jacobian.py,sha256=p0EV_8cLzLVV-93VKznT7VPuRj8W7h7rQWkPlWJXfCA,11023
 jaxsim/rbda/rnea.py,sha256=CLfqs9XFVaD-hvkLABshDAfdw5bm_AMV3UVAQ_IvURQ,7542
 jaxsim/rbda/utils.py,sha256=eeT21Y4DiiyhrdF0lUE_VvRuwru5-rR7yOlOlWzCCWE,5381
-jaxsim/rbda/contacts/__init__.py,sha256=8-JvjjuCkGf-ORMNnTe641zfamagmiFqZWzNO3cneWE,362
-jaxsim/rbda/contacts/common.py,sha256=_yrxTM16Je9ck5aM95ndk8Kwu_oijxG9Jaf1jEjHEYw,4332
-jaxsim/rbda/contacts/relaxed_rigid.py,sha256=Ob5LdKe3D7tGlIdT4LamJ6_F0j5pzUmWNYoWqy8Di98,17169
-jaxsim/rbda/contacts/rigid.py,sha256=1TTiGXSOipO8l5FDTtxqRNo1ArCNtDg-Yr3olPgBLGs,17588
-jaxsim/rbda/contacts/soft.py,sha256=TMCUDtFmNIae04LCla57iXMjdt9F5qTFjYEnP5NdLFg,16809
-jaxsim/rbda/contacts/visco_elastic.py,sha256=tfcH4_JFox6_6PyR29kLlqc8pYN8WCslYnClxV7TnSU,39780
+jaxsim/rbda/contacts/__init__.py,sha256=L5MM-2pv76YPGzxExdz2EErgGBATuAjYnNHlq5QOySs,503
+jaxsim/rbda/contacts/common.py,sha256=iywCQtesrnrwywRQv8cjyot2bG11dT_iONyF8OJztIA,5798
+jaxsim/rbda/contacts/relaxed_rigid.py,sha256=TR81tJ4ipcpvPnwlfkpyNDhvWizpEG542SFVu_CwHRU,19614
+jaxsim/rbda/contacts/rigid.py,sha256=3aDPFrIm2_QpKKRpTqJJk8qBK-W63gq7Arc8WDVAcHc,17382
+jaxsim/rbda/contacts/soft.py,sha256=6eFgV2hJK793RZfoY8oSqw-zC1UqFldaE0hfGHELnmU,16325
+jaxsim/rbda/contacts/visco_elastic.py,sha256=wATvBhLrV-7IyVLJhW7OaMg_HDAmczl_8MnYm3wuqSc,39819
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=K91HEzPqTSyNrc_j1KfAAEF_5oDeuk_-jnnZGrcMEcY,5015
 jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=TGmTQV2Lq7Q-2nLoAEaeNtkPa_qj0IKkdBm4COj46Os,11312
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=Fh82ZcaFi5fUnByyFLnmumaobsu1hJIvFdopUVzJ1ps,4052
-jaxsim-0.4.3.dev181.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev181.dist-info/METADATA,sha256=w-b474j6ugFST4V5QJ2h9DTtrb2xRH0cdCRAMyBG8wg,17276
-jaxsim-0.4.3.dev181.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-jaxsim-0.4.3.dev181.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev181.dist-info/RECORD,,
+jaxsim-0.4.3.dev200.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev200.dist-info/METADATA,sha256=NUJ6GXIFFK-y9-p-M2OTTdI3g7utYHa3Lsg2VXSXtoI,17276
+jaxsim-0.4.3.dev200.dist-info/WHEEL,sha256=OVMc5UfuAQiSplgO0_WdW7vXVGAt9Hdd6qtN4HotdyA,91
+jaxsim-0.4.3.dev200.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev200.dist-info/RECORD,,

{jaxsim-0.4.3.dev181.dist-info → jaxsim-0.4.3.dev200.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.1.0)
+Generator: setuptools (75.2.0)
 Root-Is-Purelib: true
 Tag: py3-none-any