jaxsim 0.4.3.dev80__py3-none-any.whl → 0.4.3.dev88__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.dev80'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev80')
+__version__ = version = '0.4.3.dev88'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev88')

jaxsim/api/contact.py

@@ -372,11 +372,9 @@ def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jt
     """
 
     # Get the transforms of the parent link of all collidable points.
-    W_H_L = jax.vmap(
-        lambda parent_link_idx: js.link.transform(
-            model=model, data=data, link_index=parent_link_idx
-        )
-    )(jnp.array(model.kin_dyn_parameters.contact_parameters.body, dtype=int))
+    W_H_L = js.model.forward_kinematics(model=model, data=data)[
+        jnp.array(model.kin_dyn_parameters.contact_parameters.body, dtype=int)
+    ]
 
     # Build the link-to-point transform from the displacement between the link frame L
     # and the implicit contact frame C.
@@ -427,9 +425,9 @@ def jacobian(
     # Compute the contact Jacobian.
     # In inertial-fixed output representation, the Jacobian of the parent link is also
     # the Jacobian of the frame C implicitly associated with the collidable point.
-    W_J_WC = jax.vmap(lambda parent_link_idx: W_J_WL[parent_link_idx])(
+    W_J_WC = W_J_WL[
         jnp.array(model.kin_dyn_parameters.contact_parameters.body, dtype=int)
-    )
+    ]
 
     # Adjust the output representation.
     match output_vel_repr:

jaxsim/api/kin_dyn_parameters.py

@@ -422,9 +422,7 @@ class KynDynParameters(JaxsimDataclass):
         # Note that here we include also the index 0 since suc_H_child[0] stores the
         # optional pose of the base link w.r.t. the root frame of the model.
         # This is supported by SDF when the base link <pose> element is defined.
-        suc_H_i = jax.vmap(lambda i: self.joint_model.successor_H_child(joint_index=i))(
-            jnp.arange(0, 1 + self.number_of_joints())
-        )
+        suc_H_i = self.joint_model.suc_H_i[jnp.arange(0, 1 + self.number_of_joints())]
 
         # Compute the overall transforms from the parent to the child of each joint by
         # composing all the components of our joint model.

jaxsim/api/model.py

@@ -395,13 +395,7 @@ def total_mass(model: JaxSimModel) -> jtp.Float:
         The total mass of the model.
     """
 
-    return (
-        jax.vmap(lambda idx: js.link.mass(model=model, link_index=idx))(
-            jnp.arange(model.number_of_links())
-        )
-        .sum()
-        .astype(float)
-    )
+    return model.kin_dyn_parameters.link_parameters.mass.sum().astype(float)
 
 
 @jax.jit
@@ -974,7 +968,7 @@ def free_floating_coriolis_matrix(
             lambda link_index: js.link.jacobian_derivative(
                 model=model, data=data, link_index=link_index
             )
-        )(js.link.names_to_idxs(model=model, link_names=model.link_names()))
+        )(jnp.arange(model.number_of_links()))
 
     L_M_L = link_spatial_inertia_matrices(model=model)
 

{jaxsim-0.4.3.dev80.dist-info → jaxsim-0.4.3.dev88.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev80
+Version: 0.4.3.dev88
 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.dev80.dist-info → jaxsim-0.4.3.dev88.dist-info}/RECORD

@@ -1,18 +1,18 @@
 jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
-jaxsim/_version.py,sha256=G5Qm6992nEqZe7NQkfmL8p-gHKaNDVraUdwnF4D-BbI,426
+jaxsim/_version.py,sha256=B5nbhwRMLkROhGufRX4ovaMmwptyxOtLB8YwoD_nlo8,426
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 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=Ek1xSKB_VWjfqsqRYlK236ountKmGTl1M04cTYqHgsE,22142
+jaxsim/api/contact.py,sha256=d6uf_ySM5bqh90lHvxwcni722ePrvm3HMKy9Lo1uqqY,22017
 jaxsim/api/data.py,sha256=QldUHniJqKrdNtAcXuRaS9UyeslJ0Rjvb17UA0Ca5Tw,29008
 jaxsim/api/frame.py,sha256=KS8A5wRfjxhe9NgcVo2QA516iP5zky7UVnWxG7nTa7c,12911
 jaxsim/api/joint.py,sha256=lksT1Doxz2jknHyhb4ls20z6f6dofpZSzBJtVacZXAE,7129
-jaxsim/api/kin_dyn_parameters.py,sha256=FrWymdta36THv5QFTzxorJtYiKTVDg7HqOcPTHa12VM,29327
+jaxsim/api/kin_dyn_parameters.py,sha256=ElahFk_RCcLvjTidH2qDOsY-m1gN1hXitCv4SvfgGYY,29260
 jaxsim/api/link.py,sha256=LAA6ZMQXkWomXeptURBtc7z3_xDZ2BBnBMhVrohh0bE,18621
-jaxsim/api/model.py,sha256=TLjgacgTXm-2YRGDA0Id9pe9nxIem28KoAls6Tdk9WM,66241
+jaxsim/api/model.py,sha256=WL31JA2jK5L79TJ05ZouIYGe02rQvFItVDqizkzC1UE,66100
 jaxsim/api/ode.py,sha256=ZshGdHptftku0yoUwBiBdd1iOqntH0vVEOjRHfL7Fao,13518
 jaxsim/api/ode_data.py,sha256=7RSoBhfCJdP6P9InQbDwdBVpClPMMuetewI-6AWm-_0,20276
 jaxsim/api/references.py,sha256=XOVKuQXRmjPoP-T5JWGSbqIGX5DzOkeGafqRpj0ZQEM,20771
@@ -63,8 +63,8 @@ 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.dev80.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev80.dist-info/METADATA,sha256=BLXHcGNmem2sMUaAvTy-6E1XsRF5JdPIrPzQkiSeFyQ,17276
-jaxsim-0.4.3.dev80.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-jaxsim-0.4.3.dev80.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev80.dist-info/RECORD,,
+jaxsim-0.4.3.dev88.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev88.dist-info/METADATA,sha256=Hm6Vv2DzMpviXdgHoSsUUuGWJAyYMKngkYXEVMHEh7U,17276
+jaxsim-0.4.3.dev88.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
+jaxsim-0.4.3.dev88.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev88.dist-info/RECORD,,