jaxsim 0.4.3.dev242__tar.gz → 0.4.3.dev245__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (129) hide show
  1. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/PKG-INFO +1 -1
  2. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/_version.py +2 -2
  3. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/frame.py +1 -1
  4. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/kin_dyn_parameters.py +3 -3
  5. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim.egg-info/PKG-INFO +1 -1
  6. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.devcontainer/Dockerfile +0 -0
  7. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.devcontainer/devcontainer.json +0 -0
  8. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.gitattributes +0 -0
  9. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.github/CODEOWNERS +0 -0
  10. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.github/dependabot.yml +0 -0
  11. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.github/workflows/ci_cd.yml +0 -0
  12. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.github/workflows/read_the_docs.yml +0 -0
  13. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.github/workflows/update_pixi_lockfile.yml +0 -0
  14. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.gitignore +0 -0
  15. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.pre-commit-config.yaml +0 -0
  16. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.readthedocs.yaml +0 -0
  17. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/CONTRIBUTING.md +0 -0
  18. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/LICENSE +0 -0
  19. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/README.md +0 -0
  20. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/Makefile +0 -0
  21. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/conf.py +0 -0
  22. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/examples.rst +0 -0
  23. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/guide/install.rst +0 -0
  24. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/index.rst +0 -0
  25. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/make.bat +0 -0
  26. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/api.rst +0 -0
  27. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/integrators.rst +0 -0
  28. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/math.rst +0 -0
  29. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/mujoco.rst +0 -0
  30. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/parsers.rst +0 -0
  31. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/rbda.rst +0 -0
  32. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/typing.rst +0 -0
  33. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/docs/modules/utils.rst +0 -0
  34. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/environment.yml +0 -0
  35. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/.gitattributes +0 -0
  36. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/.gitignore +0 -0
  37. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/README.md +0 -0
  38. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/assets/build_cartpole_urdf.py +0 -0
  39. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/assets/cartpole.urdf +0 -0
  40. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/jaxsim_as_multibody_dynamics_library.ipynb +0 -0
  41. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/jaxsim_as_physics_engine.ipynb +0 -0
  42. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/examples/jaxsim_for_robot_controllers.ipynb +0 -0
  43. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/pixi.lock +0 -0
  44. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/pyproject.toml +0 -0
  45. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/setup.cfg +0 -0
  46. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/setup.py +0 -0
  47. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/__init__.py +0 -0
  48. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/__init__.py +0 -0
  49. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/com.py +0 -0
  50. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/common.py +0 -0
  51. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/contact.py +0 -0
  52. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/data.py +0 -0
  53. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/joint.py +0 -0
  54. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/link.py +0 -0
  55. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/model.py +0 -0
  56. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/ode.py +0 -0
  57. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/ode_data.py +0 -0
  58. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/references.py +0 -0
  59. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/exceptions.py +0 -0
  60. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/integrators/__init__.py +0 -0
  61. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/integrators/common.py +0 -0
  62. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/integrators/fixed_step.py +0 -0
  63. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/integrators/variable_step.py +0 -0
  64. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/logging.py +0 -0
  65. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/__init__.py +0 -0
  66. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/adjoint.py +0 -0
  67. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/cross.py +0 -0
  68. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/inertia.py +0 -0
  69. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/joint_model.py +0 -0
  70. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/quaternion.py +0 -0
  71. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/rotation.py +0 -0
  72. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/skew.py +0 -0
  73. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/math/transform.py +0 -0
  74. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/mujoco/__init__.py +0 -0
  75. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/mujoco/__main__.py +0 -0
  76. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/mujoco/loaders.py +0 -0
  77. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/mujoco/model.py +0 -0
  78. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/mujoco/utils.py +0 -0
  79. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/mujoco/visualizer.py +0 -0
  80. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/__init__.py +0 -0
  81. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  82. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  83. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  84. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/descriptions/link.py +0 -0
  85. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/descriptions/model.py +0 -0
  86. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  87. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/rod/__init__.py +0 -0
  88. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/rod/parser.py +0 -0
  89. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/parsers/rod/utils.py +0 -0
  90. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/__init__.py +0 -0
  91. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/aba.py +0 -0
  92. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/collidable_points.py +0 -0
  93. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/contacts/__init__.py +0 -0
  94. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/contacts/common.py +0 -0
  95. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/contacts/relaxed_rigid.py +0 -0
  96. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/contacts/rigid.py +0 -0
  97. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/contacts/soft.py +0 -0
  98. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/contacts/visco_elastic.py +0 -0
  99. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/crba.py +0 -0
  100. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  101. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/jacobian.py +0 -0
  102. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/rnea.py +0 -0
  103. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/rbda/utils.py +0 -0
  104. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/terrain/__init__.py +0 -0
  105. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/terrain/terrain.py +0 -0
  106. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/typing.py +0 -0
  107. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/utils/__init__.py +0 -0
  108. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  109. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/utils/tracing.py +0 -0
  110. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/utils/wrappers.py +0 -0
  111. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  112. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  113. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim.egg-info/requires.txt +0 -0
  114. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim.egg-info/top_level.txt +0 -0
  115. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/__init__.py +0 -0
  116. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/conftest.py +0 -0
  117. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_api_com.py +0 -0
  118. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_api_contact.py +0 -0
  119. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_api_data.py +0 -0
  120. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_api_frame.py +0 -0
  121. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_api_joint.py +0 -0
  122. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_api_link.py +0 -0
  123. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_api_model.py +0 -0
  124. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_automatic_differentiation.py +0 -0
  125. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_contact.py +0 -0
  126. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_exceptions.py +0 -0
  127. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_pytree.py +0 -0
  128. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/test_simulations.py +0 -0
  129. {jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/tests/utils_idyntree.py +0 -0
{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: jaxsim
3
- Version: 0.4.3.dev242
3
+ Version: 0.4.3.dev245
4
4
  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
5
5
  Author-email: Diego Ferigo <dgferigo@gmail.com>
6
6
  Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/_version.py RENAMED
@@ -12,5 +12,5 @@ __version__: str
12
12
  __version_tuple__: VERSION_TUPLE
13
13
  version_tuple: VERSION_TUPLE
14
14
 
15
- __version__ = version = '0.4.3.dev242'
16
- __version_tuple__ = version_tuple = (0, 4, 3, 'dev242')
15
+ __version__ = version = '0.4.3.dev245'
16
+ __version_tuple__ = version_tuple = (0, 4, 3, 'dev245')
{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/frame.py RENAMED
@@ -40,7 +40,7 @@ def idx_of_parent_link(
40
40
  idx=frame_index,
41
41
  )
42
42
 
43
- return model.kin_dyn_parameters.frame_parameters.body[
43
+ return jnp.array(model.kin_dyn_parameters.frame_parameters.body)[
44
44
  frame_index - model.number_of_links()
45
45
  ]
46
46
 
{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim/api/kin_dyn_parameters.py RENAMED
@@ -238,7 +238,7 @@ class KynDynParameters(JaxsimDataclass):
238
238
  hash(self.number_of_links()),
239
239
  hash(self.number_of_joints()),
240
240
  hash(self.frame_parameters.name),
241
- hash(tuple(self.frame_parameters.body.tolist())),
241
+ hash(self.frame_parameters.body),
242
242
  hash(self._parent_array),
243
243
  hash(self._support_body_array_bool),
244
244
  )
@@ -825,7 +825,7 @@ class FrameParameters(JaxsimDataclass):
825
825
 
826
826
  name: Static[tuple[str, ...]] = dataclasses.field(default_factory=tuple)
827
827
 
828
- body: jtp.Vector = dataclasses.field(default_factory=lambda: jnp.array([]))
828
+ body: Static[tuple[int, ...]] = dataclasses.field(default_factory=tuple)
829
829
 
830
830
  transform: jtp.Array = dataclasses.field(default_factory=lambda: jnp.array([]))
831
831
 
@@ -862,7 +862,7 @@ class FrameParameters(JaxsimDataclass):
862
862
  fp = FrameParameters(
863
863
  name=names,
864
864
  transform=transforms.astype(float),
865
- body=jnp.array(parent_link_index_of_frames).astype(int),
865
+ body=parent_link_index_of_frames,
866
866
  )
867
867
 
868
868
  assert fp.transform.shape[1:] == (4, 4), fp.transform.shape[1:]
{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/src/jaxsim.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.1
2
2
  Name: jaxsim
3
- Version: 0.4.3.dev242
3
+ Version: 0.4.3.dev245
4
4
  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
5
5
  Author-email: Diego Ferigo <dgferigo@gmail.com>
6
6
  Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/.gitignore RENAMED
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{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/LICENSE RENAMED
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{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/README.md RENAMED
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{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/pixi.lock RENAMED
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{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/setup.cfg RENAMED
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{jaxsim-0.4.3.dev242 → jaxsim-0.4.3.dev245}/setup.py RENAMED
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