jaxsim 0.4.3.dev242__py3-none-any.whl → 0.4.3.dev245__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.3.dev242'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev242')
+__version__ = version = '0.4.3.dev245'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev245')

jaxsim/api/frame.py

@@ -40,7 +40,7 @@ def idx_of_parent_link(
         idx=frame_index,
     )
 
-    return model.kin_dyn_parameters.frame_parameters.body[
+    return jnp.array(model.kin_dyn_parameters.frame_parameters.body)[
         frame_index - model.number_of_links()
     ]
 

jaxsim/api/kin_dyn_parameters.py

@@ -238,7 +238,7 @@ class KynDynParameters(JaxsimDataclass):
                 hash(self.number_of_links()),
                 hash(self.number_of_joints()),
                 hash(self.frame_parameters.name),
-                hash(tuple(self.frame_parameters.body.tolist())),
+                hash(self.frame_parameters.body),
                 hash(self._parent_array),
                 hash(self._support_body_array_bool),
             )
@@ -825,7 +825,7 @@ class FrameParameters(JaxsimDataclass):
 
     name: Static[tuple[str, ...]] = dataclasses.field(default_factory=tuple)
 
-    body: jtp.Vector = dataclasses.field(default_factory=lambda: jnp.array([]))
+    body: Static[tuple[int, ...]] = dataclasses.field(default_factory=tuple)
 
     transform: jtp.Array = dataclasses.field(default_factory=lambda: jnp.array([]))
 
@@ -862,7 +862,7 @@ class FrameParameters(JaxsimDataclass):
         fp = FrameParameters(
             name=names,
             transform=transforms.astype(float),
-            body=jnp.array(parent_link_index_of_frames).astype(int),
+            body=parent_link_index_of_frames,
         )
 
         assert fp.transform.shape[1:] == (4, 4), fp.transform.shape[1:]

{jaxsim-0.4.3.dev242.dist-info → jaxsim-0.4.3.dev245.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev242
+Version: 0.4.3.dev245
 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.dev242.dist-info → jaxsim-0.4.3.dev245.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=MulyCITmYYLdFRMIlPKDiFIXlIDsYkQ31wXsix-6zyo,428
+jaxsim/_version.py,sha256=M-BxL76M-utEC1M8k4OEPThRT-EPO5mWYFUyfr6637A,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
@@ -8,9 +8,9 @@ jaxsim/api/com.py,sha256=m-p3EJDhpnMTlXKplfbZE_aH9NqX_VyLlAE3vUhc6l4,13642
 jaxsim/api/common.py,sha256=SNgxq42r6eF_-aPszvOjUYkGwXOzz4hKmhDwEUkscFQ,6650
 jaxsim/api/contact.py,sha256=iiQc8vdlJ60Vl-ki4ieP7TW6MJhJfWREYpcVyyEWT0M,24034
 jaxsim/api/data.py,sha256=gQX6hfEaw0ooJYvpr5f8UvEJwqhtflEK_NHWn9XgTZY,28935
-jaxsim/api/frame.py,sha256=KS8A5wRfjxhe9NgcVo2QA516iP5zky7UVnWxG7nTa7c,12911
+jaxsim/api/frame.py,sha256=yPSgNygHkvWlln4wShNt7vZm_fFobVEm7phsklNNyH8,12922
 jaxsim/api/joint.py,sha256=lksT1Doxz2jknHyhb4ls20z6f6dofpZSzBJtVacZXAE,7129
-jaxsim/api/kin_dyn_parameters.py,sha256=thJbz9XhpXgom23S6MXX2ugxGoAD-k947ZMAHDisy2w,29620
+jaxsim/api/kin_dyn_parameters.py,sha256=kbDN5n9uj8CamVJXk1U5oYLbxyjaWDIeUG0V68DCEFs,29578
 jaxsim/api/link.py,sha256=LAA6ZMQXkWomXeptURBtc7z3_xDZ2BBnBMhVrohh0bE,18621
 jaxsim/api/model.py,sha256=FSK2KvH2oNoGIt67gxQD7ScbClqXCn1Oy5JLtc4QHYg,70585
 jaxsim/api/ode.py,sha256=2KvGT3WW1eWEme4fH-5LlOXdLF6JUP5Z-IGY93ashUc,13815
@@ -65,8 +65,8 @@ 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.dev242.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev242.dist-info/METADATA,sha256=RoCgOpVVtHyEo1jNXyEj6Fwq1i-Q6vodc7nqp0dT68k,17276
-jaxsim-0.4.3.dev242.dist-info/WHEEL,sha256=OVMc5UfuAQiSplgO0_WdW7vXVGAt9Hdd6qtN4HotdyA,91
-jaxsim-0.4.3.dev242.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev242.dist-info/RECORD,,
+jaxsim-0.4.3.dev245.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev245.dist-info/METADATA,sha256=KkzN5EWZkz0Oj6awfhPKRHWrXTZNNTl5vVlfNK64ZY8,17276
+jaxsim-0.4.3.dev245.dist-info/WHEEL,sha256=OVMc5UfuAQiSplgO0_WdW7vXVGAt9Hdd6qtN4HotdyA,91
+jaxsim-0.4.3.dev245.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev245.dist-info/RECORD,,