jaxsim 0.4.3.dev90__py3-none-any.whl → 0.4.3.dev94__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.dev90'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev90')
+__version__ = version = '0.4.3.dev94'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev94')

jaxsim/api/contact.py

@@ -224,15 +224,27 @@ def collidable_point_dynamics(
         case _:
             raise ValueError(f"Invalid contact model {model.contact_model}")
 
+    # Compute the transforms of the implicit frames `C[L] = (W_p_C, [L])`
+    # associated to each collidable point.
+    # In inertial-fixed representation, the computation of these transforms
+    # is not necessary and the conversion below becomes a no-op.
+    W_H_Ci = (
+        js.contact.transforms(model=model, data=data)
+        if data.velocity_representation is not VelRepr.Inertial
+        else jnp.zeros(
+            shape=(len(model.kin_dyn_parameters.contact_parameters.body), 4, 4)
+        )
+    )
+
     # Convert the 6D forces to the active representation.
     f_Ci = jax.vmap(
-        lambda W_f_C: data.inertial_to_other_representation(
+        lambda W_f_C, W_H_C: data.inertial_to_other_representation(
             array=W_f_C,
             other_representation=data.velocity_representation,
-            transform=data.base_transform(),
+            transform=W_H_C,
             is_force=True,
         )
-    )(W_f_Ci)
+    )(W_f_Ci, W_H_Ci)
 
     return f_Ci, aux_data
 

jaxsim/api/ode.py

@@ -145,7 +145,10 @@ def system_velocity_dynamics(
 
         # Compute the 6D forces W_f ∈ ℝ^{n_c × 6} applied to each collidable point
         # along with contact-specific auxiliary states.
-        with data.switch_velocity_representation(VelRepr.Inertial):
+        with (
+            data.switch_velocity_representation(VelRepr.Inertial),
+            references.switch_velocity_representation(VelRepr.Inertial),
+        ):
             W_f_Ci, aux_data = js.contact.collidable_point_dynamics(
                 model=model,
                 data=data,

{jaxsim-0.4.3.dev90.dist-info → jaxsim-0.4.3.dev94.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev90
+Version: 0.4.3.dev94
 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.dev90.dist-info → jaxsim-0.4.3.dev94.dist-info}/RECORD

@@ -1,19 +1,19 @@
 jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
-jaxsim/_version.py,sha256=fuaYWGJzXhRRB1_d7MJOsOZB0tLvj9VmOhi-3TpDllA,426
+jaxsim/_version.py,sha256=f0-5Va8ZSzGXVRJ_ApiuY6zOurBuqFLN7dmOX5CxUAA,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=d6uf_ySM5bqh90lHvxwcni722ePrvm3HMKy9Lo1uqqY,22017
+jaxsim/api/contact.py,sha256=YwiG44giPxFgIaZq24rYxBx6McNgXXFwwiG9tA8801I,22528
 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=ElahFk_RCcLvjTidH2qDOsY-m1gN1hXitCv4SvfgGYY,29260
 jaxsim/api/link.py,sha256=LAA6ZMQXkWomXeptURBtc7z3_xDZ2BBnBMhVrohh0bE,18621
 jaxsim/api/model.py,sha256=WL31JA2jK5L79TJ05ZouIYGe02rQvFItVDqizkzC1UE,66100
-jaxsim/api/ode.py,sha256=ZshGdHptftku0yoUwBiBdd1iOqntH0vVEOjRHfL7Fao,13518
+jaxsim/api/ode.py,sha256=gYSbtHWGCDP-IkUzQlH3t0fBKnK8qmxwhIvsbLG9lwU,13616
 jaxsim/api/ode_data.py,sha256=7RSoBhfCJdP6P9InQbDwdBVpClPMMuetewI-6AWm-_0,20276
 jaxsim/api/references.py,sha256=XOVKuQXRmjPoP-T5JWGSbqIGX5DzOkeGafqRpj0ZQEM,20771
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
@@ -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.dev90.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev90.dist-info/METADATA,sha256=Xtzcvy1beDYPhSFFx_xtt-5fgvGj8c-eeS-_Jv45xfE,17276
-jaxsim-0.4.3.dev90.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-jaxsim-0.4.3.dev90.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev90.dist-info/RECORD,,
+jaxsim-0.4.3.dev94.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev94.dist-info/METADATA,sha256=wEoRAFF3f-3u2hBbHzyOPBQ_mgcwFGcBaPmC-wYuAhE,17276
+jaxsim-0.4.3.dev94.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
+jaxsim-0.4.3.dev94.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev94.dist-info/RECORD,,