jaxsim 0.4.3.dev92__py3-none-any.whl → 0.4.3.dev94__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/api/contact.py +15 -3
  3. {jaxsim-0.4.3.dev92.dist-info → jaxsim-0.4.3.dev94.dist-info}/METADATA +1 -1
  4. {jaxsim-0.4.3.dev92.dist-info → jaxsim-0.4.3.dev94.dist-info}/RECORD +7 -7
  5. {jaxsim-0.4.3.dev92.dist-info → jaxsim-0.4.3.dev94.dist-info}/LICENSE +0 -0
  6. {jaxsim-0.4.3.dev92.dist-info → jaxsim-0.4.3.dev94.dist-info}/WHEEL +0 -0
  7. {jaxsim-0.4.3.dev92.dist-info → jaxsim-0.4.3.dev94.dist-info}/top_level.txt +0 -0
jaxsim/_version.py CHANGED
@@ -12,5 +12,5 @@ __version__: str
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  __version_tuple__: VERSION_TUPLE
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  version_tuple: VERSION_TUPLE
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- __version__ = version = '0.4.3.dev92'
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- __version_tuple__ = version_tuple = (0, 4, 3, 'dev92')
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+ __version__ = version = '0.4.3.dev94'
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+ __version_tuple__ = version_tuple = (0, 4, 3, 'dev94')
jaxsim/api/contact.py CHANGED
@@ -224,15 +224,27 @@ def collidable_point_dynamics(
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  case _:
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  raise ValueError(f"Invalid contact model {model.contact_model}")
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+ # Compute the transforms of the implicit frames `C[L] = (W_p_C, [L])`
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+ # associated to each collidable point.
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+ # In inertial-fixed representation, the computation of these transforms
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+ # is not necessary and the conversion below becomes a no-op.
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+ W_H_Ci = (
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+ js.contact.transforms(model=model, data=data)
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+ if data.velocity_representation is not VelRepr.Inertial
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+ else jnp.zeros(
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+ shape=(len(model.kin_dyn_parameters.contact_parameters.body), 4, 4)
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+ )
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+ )
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+
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  # Convert the 6D forces to the active representation.
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  f_Ci = jax.vmap(
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- lambda W_f_C: data.inertial_to_other_representation(
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+ lambda W_f_C, W_H_C: data.inertial_to_other_representation(
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  array=W_f_C,
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  other_representation=data.velocity_representation,
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- transform=data.base_transform(),
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+ transform=W_H_C,
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  is_force=True,
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  )
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- )(W_f_Ci)
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+ )(W_f_Ci, W_H_Ci)
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  return f_Ci, aux_data
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{jaxsim-0.4.3.dev92.dist-info → jaxsim-0.4.3.dev94.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: jaxsim
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- Version: 0.4.3.dev92
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+ Version: 0.4.3.dev94
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  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
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  Author-email: Diego Ferigo <dgferigo@gmail.com>
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  Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>
{jaxsim-0.4.3.dev92.dist-info → jaxsim-0.4.3.dev94.dist-info}/RECORD RENAMED
@@ -1,12 +1,12 @@
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  jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
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- jaxsim/_version.py,sha256=zAPSBvbq9I7HBdNXrtiufDT_Jj2UKtJOpjP0i_YFtmE,426
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+ jaxsim/_version.py,sha256=f0-5Va8ZSzGXVRJ_ApiuY6zOurBuqFLN7dmOX5CxUAA,426
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  jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
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  jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
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  jaxsim/typing.py,sha256=2HXy9hgazPXjofi1vLQ09ZubPtgVmg80U9NKmZ6NYiI,761
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  jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
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  jaxsim/api/com.py,sha256=m-p3EJDhpnMTlXKplfbZE_aH9NqX_VyLlAE3vUhc6l4,13642
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  jaxsim/api/common.py,sha256=SNgxq42r6eF_-aPszvOjUYkGwXOzz4hKmhDwEUkscFQ,6650
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- jaxsim/api/contact.py,sha256=d6uf_ySM5bqh90lHvxwcni722ePrvm3HMKy9Lo1uqqY,22017
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+ jaxsim/api/contact.py,sha256=YwiG44giPxFgIaZq24rYxBx6McNgXXFwwiG9tA8801I,22528
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  jaxsim/api/data.py,sha256=QldUHniJqKrdNtAcXuRaS9UyeslJ0Rjvb17UA0Ca5Tw,29008
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  jaxsim/api/frame.py,sha256=KS8A5wRfjxhe9NgcVo2QA516iP5zky7UVnWxG7nTa7c,12911
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  jaxsim/api/joint.py,sha256=lksT1Doxz2jknHyhb4ls20z6f6dofpZSzBJtVacZXAE,7129
@@ -63,8 +63,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
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  jaxsim/utils/jaxsim_dataclass.py,sha256=TGmTQV2Lq7Q-2nLoAEaeNtkPa_qj0IKkdBm4COj46Os,11312
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  jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
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  jaxsim/utils/wrappers.py,sha256=Fh82ZcaFi5fUnByyFLnmumaobsu1hJIvFdopUVzJ1ps,4052
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- jaxsim-0.4.3.dev92.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.4.3.dev92.dist-info/METADATA,sha256=ix-zV0RmlB_yVniPpcZ-IzY0EEVgi2iZ9d8GLyg7vxU,17276
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- jaxsim-0.4.3.dev92.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
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- jaxsim-0.4.3.dev92.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.4.3.dev92.dist-info/RECORD,,
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+ jaxsim-0.4.3.dev94.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.4.3.dev94.dist-info/METADATA,sha256=wEoRAFF3f-3u2hBbHzyOPBQ_mgcwFGcBaPmC-wYuAhE,17276
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+ jaxsim-0.4.3.dev94.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
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+ jaxsim-0.4.3.dev94.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.4.3.dev94.dist-info/RECORD,,