jaxsim 0.4.3.dev226__tar.gz → 0.4.3.dev231__tar.gz

{jaxsim-0.4.3.dev226 → jaxsim-0.4.3.dev231}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev226
+Version: 0.4.3.dev231
 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.dev226 → jaxsim-0.4.3.dev231}/examples/jaxsim_as_multibody_dynamics_library.ipynb

@@ -728,7 +728,7 @@
     "Key methodologies in this area may involve the Delassus matrix:\n",
     "\n",
     "$$\n",
-    "\\Psi(\\mathbf{q}) = J_{W,C}^T(\\mathbf{q}) \\, M(\\mathbf{q})^{-1} \\, J_{W,C}^T(\\mathbf{q})\n",
+    "\\Psi(\\mathbf{q}) = J_{W,C}(\\mathbf{q}) \\, M(\\mathbf{q})^{-1} \\, J_{W,C}^T(\\mathbf{q})\n",
     "$$\n",
     "\n",
     "or the linear acceleration of a contact point:\n",
@@ -780,7 +780,7 @@
     "    J̇l_WC = js.contact.jacobian_derivative(model=model, data=data)[:, 0:3, :]\n",
     "\n",
     "# Compute the Delassus matrix.\n",
-    "Ψ = jnp.vstack(Jl_WC) @ jnp.linalg.lstsq(BW_M, jnp.vstack(J̇l_WC).T)[0]\n",
+    "Ψ = jnp.vstack(Jl_WC) @ jnp.linalg.lstsq(BW_M, jnp.vstack(Jl_WC).T)[0]\n",
     "print(f\"Ψ:     shape={Ψ.shape}\")\n",
     "\n",
     "# Compute the transforms of the mixed frames implicitly associated\n",

{jaxsim-0.4.3.dev226 → jaxsim-0.4.3.dev231}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.3.dev226'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev226')
+__version__ = version = '0.4.3.dev231'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev231')

{jaxsim-0.4.3.dev226 → jaxsim-0.4.3.dev231}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev226
+Version: 0.4.3.dev231
 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.dev226 → jaxsim-0.4.3.dev231}/tests/test_automatic_differentiation.py

@@ -295,7 +295,7 @@ def test_ad_soft_contacts(
     m = jax.random.uniform(subkey3, shape=(3,), minval=-1)
 
     # Get the soft contacts parameters.
-    parameters = js.contact.estimate_good_soft_contacts_parameters(model=model)
+    parameters = js.contact.estimate_good_contact_parameters(model=model)
 
     # ====
     # Test
@@ -374,8 +374,8 @@ def test_ad_integration(
     )
 
     # Initialize the integrator.
-    t0, dt = 0.0, 0.001
-    integrator_state = integrator.init(x0=data.state, t0=t0, dt=dt)
+    t0 = 0.0
+    integrator_state = integrator.init(x0=data.state, t0=t0, dt=model.time_step)
 
     # Function exposing only the parameters to be differentiated.
     def step(
@@ -408,7 +408,6 @@ def test_ad_integration(
         )
 
         data_xf, _ = js.model.step(
-            dt=dt,
             model=model,
             data=data_x0,
             integrator=integrator,

{jaxsim-0.4.3.dev226 → jaxsim-0.4.3.dev231}/tests/test_pytree.py

@@ -29,7 +29,7 @@ def test_call_jit_compiled_function_passing_different_objects(
 
     # If this function has never been compiled by any other test, JAX will
     # jit-compile it here.
-    _ = js.contact.estimate_good_soft_contacts_parameters(model=model1)
+    _ = js.contact.estimate_good_contact_parameters(model=model1)
 
     # Now JAX should not compile it again.
     with jax.log_compiles():
@@ -37,11 +37,11 @@ def test_call_jit_compiled_function_passing_different_objects(
             # Beyond running without any JIT recompilations, the following function
             # should work on different JaxSimModel objects without raising any errors
             # related to the comparison of Static fields.
-            _ = js.contact.estimate_good_soft_contacts_parameters(model=model2)
+            _ = js.contact.estimate_good_contact_parameters(model=model2)
             stdout = buf.getvalue()
 
     assert (
-        f"Compiling {js.contact.estimate_good_soft_contacts_parameters.__name__}"
+        f"Compiling {js.contact.estimate_good_contact_parameters.__name__}"
         not in stdout
     )
 

{jaxsim-0.4.3.dev226 → jaxsim-0.4.3.dev231}/tests/test_simulations.py

@@ -71,9 +71,8 @@ def test_box_with_external_forces(
 
     # Initialize the integrator.
     tf = 0.5
-    dt = 0.001
-    T_ns = jnp.arange(start=0, stop=tf * 1e9, step=dt * 1e9, dtype=int)
-    integrator_state = integrator.init(x0=data0.state, t0=0.0, dt=dt)
+    T_ns = jnp.arange(start=0, stop=tf * 1e9, step=model.time_step * 1e9, dtype=int)
+    integrator_state = integrator.init(x0=data0.state, t0=0.0, dt=model.time_step)
 
     # Copy the initial data...
     data = data0.copy()
@@ -84,7 +83,6 @@ def test_box_with_external_forces(
         data, integrator_state = js.model.step(
             model=model,
             data=data,
-            dt=dt,
             integrator=integrator,
             integrator_state=integrator_state,
             link_forces=references.link_forces(model=model, data=data),