jaxsim 0.5.0__tar.gz → 0.5.1.dev4__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 (131) hide show
  1. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/PKG-INFO +1 -1
  2. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/jaxsim_as_physics_engine.ipynb +6 -1
  3. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/_version.py +2 -2
  4. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/contacts/relaxed_rigid.py +1 -1
  5. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim.egg-info/PKG-INFO +1 -1
  6. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.devcontainer/Dockerfile +0 -0
  7. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.devcontainer/devcontainer.json +0 -0
  8. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.gitattributes +0 -0
  9. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.github/CODEOWNERS +0 -0
  10. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.github/dependabot.yml +0 -0
  11. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.github/workflows/ci_cd.yml +0 -0
  12. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.github/workflows/pixi.yml +0 -0
  13. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.github/workflows/read_the_docs.yml +0 -0
  14. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.gitignore +0 -0
  15. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.pre-commit-config.yaml +0 -0
  16. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/.readthedocs.yaml +0 -0
  17. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/CONTRIBUTING.md +0 -0
  18. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/LICENSE +0 -0
  19. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/README.md +0 -0
  20. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/Makefile +0 -0
  21. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/conf.py +0 -0
  22. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/examples.rst +0 -0
  23. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/guide/install.rst +0 -0
  24. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/index.rst +0 -0
  25. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/make.bat +0 -0
  26. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/api.rst +0 -0
  27. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/integrators.rst +0 -0
  28. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/math.rst +0 -0
  29. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/mujoco.rst +0 -0
  30. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/parsers.rst +0 -0
  31. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/rbda.rst +0 -0
  32. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/typing.rst +0 -0
  33. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/docs/modules/utils.rst +0 -0
  34. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/environment.yml +0 -0
  35. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/.gitattributes +0 -0
  36. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/.gitignore +0 -0
  37. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/README.md +0 -0
  38. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/assets/build_cartpole_urdf.py +0 -0
  39. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/assets/cartpole.urdf +0 -0
  40. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/jaxsim_as_multibody_dynamics_library.ipynb +0 -0
  41. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/jaxsim_for_robot_controllers.ipynb +0 -0
  42. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/pixi.lock +0 -0
  43. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/pyproject.toml +0 -0
  44. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/setup.cfg +0 -0
  45. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/setup.py +0 -0
  46. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/__init__.py +0 -0
  47. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/__init__.py +0 -0
  48. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/com.py +0 -0
  49. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/common.py +0 -0
  50. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/contact.py +0 -0
  51. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/data.py +0 -0
  52. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/frame.py +0 -0
  53. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/joint.py +0 -0
  54. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/kin_dyn_parameters.py +0 -0
  55. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/link.py +0 -0
  56. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/model.py +0 -0
  57. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/ode.py +0 -0
  58. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/ode_data.py +0 -0
  59. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/api/references.py +0 -0
  60. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/exceptions.py +0 -0
  61. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/integrators/__init__.py +0 -0
  62. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/integrators/common.py +0 -0
  63. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/integrators/fixed_step.py +0 -0
  64. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/integrators/variable_step.py +0 -0
  65. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/logging.py +0 -0
  66. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/__init__.py +0 -0
  67. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/adjoint.py +0 -0
  68. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/cross.py +0 -0
  69. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/inertia.py +0 -0
  70. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/joint_model.py +0 -0
  71. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/quaternion.py +0 -0
  72. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/rotation.py +0 -0
  73. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/skew.py +0 -0
  74. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/math/transform.py +0 -0
  75. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/mujoco/__init__.py +0 -0
  76. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/mujoco/__main__.py +0 -0
  77. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/mujoco/loaders.py +0 -0
  78. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/mujoco/model.py +0 -0
  79. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/mujoco/utils.py +0 -0
  80. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/mujoco/visualizer.py +0 -0
  81. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/__init__.py +0 -0
  82. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  83. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  84. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  85. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/descriptions/link.py +0 -0
  86. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/descriptions/model.py +0 -0
  87. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  88. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/rod/__init__.py +0 -0
  89. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/rod/meshes.py +0 -0
  90. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/rod/parser.py +0 -0
  91. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/parsers/rod/utils.py +0 -0
  92. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/__init__.py +0 -0
  93. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/aba.py +0 -0
  94. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/collidable_points.py +0 -0
  95. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/contacts/__init__.py +0 -0
  96. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/contacts/common.py +0 -0
  97. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/contacts/rigid.py +0 -0
  98. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/contacts/soft.py +0 -0
  99. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/contacts/visco_elastic.py +0 -0
  100. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/crba.py +0 -0
  101. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  102. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/jacobian.py +0 -0
  103. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/rnea.py +0 -0
  104. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/utils.py +0 -0
  105. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/terrain/__init__.py +0 -0
  106. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/terrain/terrain.py +0 -0
  107. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/typing.py +0 -0
  108. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/utils/__init__.py +0 -0
  109. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  110. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/utils/tracing.py +0 -0
  111. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/utils/wrappers.py +0 -0
  112. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  113. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  114. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim.egg-info/requires.txt +0 -0
  115. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim.egg-info/top_level.txt +0 -0
  116. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/__init__.py +0 -0
  117. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/conftest.py +0 -0
  118. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_api_com.py +0 -0
  119. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_api_contact.py +0 -0
  120. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_api_data.py +0 -0
  121. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_api_frame.py +0 -0
  122. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_api_joint.py +0 -0
  123. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_api_link.py +0 -0
  124. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_api_model.py +0 -0
  125. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_automatic_differentiation.py +0 -0
  126. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_contact.py +0 -0
  127. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_exceptions.py +0 -0
  128. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_meshes.py +0 -0
  129. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_pytree.py +0 -0
  130. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/test_simulations.py +0 -0
  131. {jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/tests/utils_idyntree.py +0 -0
{jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: jaxsim
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- Version: 0.5.0
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+ Version: 0.5.1.dev4
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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>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
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  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/examples/jaxsim_as_physics_engine.ipynb RENAMED
@@ -219,7 +219,12 @@
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  "# Note that these parameters are the nominal parameters shared among\n",
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  "# all parallel instances. If needed, they can be overridden in the\n",
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  "# vectorized data object that will be created later.\n",
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- "print(model.contact_model.parameters)"
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+ "print(model.contact_model.parameters)\n",
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+ "\n",
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+ "# Update the data object with the new contact model parameters.\n",
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+ "data_single = data_single.replace(\n",
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+ " contacts_params=model.contact_model.parameters, validate=False\n",
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+ ")"
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  ]
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  },
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  {
{jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/_version.py RENAMED
@@ -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 = '0.5.0'
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- __version_tuple__ = version_tuple = (0, 5, 0)
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+ __version__ = version = '0.5.1.dev4'
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+ __version_tuple__ = version_tuple = (0, 5, 1, 'dev4')
{jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim/rbda/contacts/relaxed_rigid.py RENAMED
@@ -376,7 +376,7 @@ class RelaxedRigidContacts(common.ContactModel):
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  # Compute the Delassus matrix and the free mixed linear acceleration of
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  # the collidable points.
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- G = Jl_WC @ jnp.linalg.lstsq(M, Jl_WC.T)[0]
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+ G = Jl_WC @ jnp.linalg.pinv(M) @ Jl_WC.T
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  CW_al_free_WC = Jl_WC @ BW_ν̇_free + J̇_WC @ BW_ν
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  # Calculate quantities for the linear optimization problem.
{jaxsim-0.5.0 → jaxsim-0.5.1.dev4}/src/jaxsim.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: jaxsim
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- Version: 0.5.0
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+ Version: 0.5.1.dev4
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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>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
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  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
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