jaxsim 0.5.1.dev139__py3-none-any.whl → 0.5.1.dev147__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev139'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev139')
+__version__ = version = '0.5.1.dev147'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev147')

jaxsim/api/model.py

@@ -2295,9 +2295,6 @@ def step(
         # Hence, here we need to reset the velocity after each impact to guarantee that
         # the linear velocity of the active collidable points is zero.
         case jaxsim.rbda.contacts.RigidContacts():
-            assert isinstance(
-                data_tf.contacts_params, jaxsim.rbda.contacts.RigidContactsParams
-            )
 
             # Raise runtime error for not supported case in which Rigid contacts and
             # Baumgarte stabilization are enabled and used with ForwardEuler integrator.
@@ -2331,12 +2328,13 @@ def step(
                     indices_of_enabled_collidable_points
                 ]
                 M = js.model.free_floating_mass_matrix(model, data_tf)
+                BW_ν_pre_impact = data_tf.generalized_velocity()
 
                 # Compute the impact velocity.
                 # It may be discontinuous in case new contacts are made.
-                BW_nu_post_impact = (
+                BW_ν_post_impact = (
                     jaxsim.rbda.contacts.RigidContacts.compute_impact_velocity(
-                        data=data_tf,
+                        generalized_velocity=BW_ν_pre_impact,
                         inactive_collidable_points=(δ <= 0),
                         M=M,
                         J_WC=J_WC,
@@ -2344,8 +2342,8 @@ def step(
                 )
 
                 # Reset the generalized velocity.
-                data_tf = data_tf.reset_base_velocity(BW_nu_post_impact[0:6])
-                data_tf = data_tf.reset_joint_velocities(BW_nu_post_impact[6:])
+                data_tf = data_tf.reset_base_velocity(BW_ν_post_impact[0:6])
+                data_tf = data_tf.reset_joint_velocities(BW_ν_post_impact[6:])
 
     # Restore the input velocity representation.
     data_tf = data_tf.replace(

jaxsim/rbda/contacts/rigid.py

@@ -173,7 +173,7 @@ class RigidContacts(ContactModel):
         inactive_collidable_points: jtp.ArrayLike,
         M: jtp.MatrixLike,
         J_WC: jtp.MatrixLike,
-        data: js.data.JaxSimModelData,
+        generalized_velocity: jtp.VectorLike,
     ) -> jtp.Vector:
         """
         Return the new velocity of the system after a potential impact.
@@ -182,55 +182,37 @@ class RigidContacts(ContactModel):
             inactive_collidable_points: The activation state of the collidable points.
             M: The mass matrix of the system (in mixed representation).
             J_WC: The Jacobian matrix of the collidable points (in mixed representation).
-            data: The `JaxSimModelData` instance.
-        """
+            generalized_velocity: The generalized velocity of the system.
 
-        def impact_velocity(
-            inactive_collidable_points: jtp.ArrayLike,
-            nu_pre: jtp.ArrayLike,
-            M: jtp.MatrixLike,
-            J_WC: jtp.MatrixLike,
-            data: js.data.JaxSimModelData,
-        ):
-            # Compute system velocity after impact maintaining zero linear velocity of active points
-            with data.switch_velocity_representation(VelRepr.Mixed):
-                sl = jnp.s_[:, 0:3, :]
-                Jl_WC = J_WC[sl]
-                # Zero out the jacobian rows of inactive points
-                Jl_WC = jnp.vstack(
-                    jnp.where(
-                        inactive_collidable_points[:, jnp.newaxis, jnp.newaxis],
-                        jnp.zeros_like(Jl_WC),
-                        Jl_WC,
-                    )
-                )
+        Note:
+            The mass matrix `M`, the Jacobian `J_WC`, and the generalized velocity `generalized_velocity`
+            must be expressed in the same velocity representation.
+        """
 
-                A = jnp.vstack(
-                    [
-                        jnp.hstack([M, -Jl_WC.T]),
-                        jnp.hstack(
-                            [Jl_WC, jnp.zeros((Jl_WC.shape[0], Jl_WC.shape[0]))]
-                        ),
-                    ]
-                )
-                b = jnp.hstack([M @ nu_pre, jnp.zeros(Jl_WC.shape[0])])
-                x = jnp.linalg.lstsq(A, b)[0]
-                nu_post = x[0 : M.shape[0]]
+        # Compute system velocity after impact maintaining zero linear velocity of active points.
+        sl = jnp.s_[:, 0:3, :]
+        Jl_WC = J_WC[sl]
+
+        # Zero out the jacobian rows of inactive points.
+        Jl_WC = jnp.vstack(
+            jnp.where(
+                inactive_collidable_points[:, jnp.newaxis, jnp.newaxis],
+                jnp.zeros_like(Jl_WC),
+                Jl_WC,
+            )
+        )
 
-                return nu_post
+        A = jnp.vstack(
+            [
+                jnp.hstack([M, -Jl_WC.T]),
+                jnp.hstack([Jl_WC, jnp.zeros((Jl_WC.shape[0], Jl_WC.shape[0]))]),
+            ]
+        )
+        b = jnp.hstack([M @ generalized_velocity, jnp.zeros(Jl_WC.shape[0])])
 
-        with data.switch_velocity_representation(VelRepr.Mixed):
-            BW_ν_pre_impact = data.generalized_velocity()
-
-            BW_ν_post_impact = impact_velocity(
-                data=data,
-                inactive_collidable_points=inactive_collidable_points,
-                nu_pre=BW_ν_pre_impact,
-                M=M,
-                J_WC=J_WC,
-            )
+        BW_ν_post_impact = jnp.linalg.lstsq(A, b)[0]
 
-        return BW_ν_post_impact
+        return BW_ν_post_impact[0 : M.shape[0]]
 
     @jax.jit
     def compute_contact_forces(

{jaxsim-0.5.1.dev139.dist-info → jaxsim-0.5.1.dev147.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.5.1.dev139
+Version: 0.5.1.dev147
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
 Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>

{jaxsim-0.5.1.dev139.dist-info → jaxsim-0.5.1.dev147.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=_8rbKOf3bwx-2ChEbspZxs_rZY0RqUcmWAftnEw1bfM,3401
-jaxsim/_version.py,sha256=rbdPpRdcjuL-NT02qiXuq49AdlY8evQGQKEirA3w01c,428
+jaxsim/_version.py,sha256=FRAq9Ja5ETQImIOQUFNBXpAELhsbGMZ09hbzc0KN4cE,428
 jaxsim/exceptions.py,sha256=qjfTjE9lXvD3-JCPQcxxiX2XSS8QegawzQ6ZuC2tc0Y,2638
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -12,7 +12,7 @@ jaxsim/api/frame.py,sha256=d6pa6vywGDqfaJU76F_-yjLJs6R3mrjZ6B-KXPu6f3Q,14595
 jaxsim/api/joint.py,sha256=AnqlNWmBOay-gsoo0y4AbfFQ2OCJm-8T1E0IMhZeLoY,7457
 jaxsim/api/kin_dyn_parameters.py,sha256=BaOp7ICxWosDIdWVjh8-cdlX8mXM9IM8wzy2fHz8Ufc,30444
 jaxsim/api/link.py,sha256=nHjffhNdi_xGkteMsqdb_hC9mdV9rNw7k3pl89Uhw_8,12798
-jaxsim/api/model.py,sha256=xcPKrpm66wR6lmWIaYHiRp8xMwhNbWG6vTLtwO0Hu_E,80198
+jaxsim/api/model.py,sha256=LSdPk1NrBHEP4avKh3K0ANIXkPHVF1AyzZj8TfDiQ00,80162
 jaxsim/api/ode.py,sha256=XFi3gGRU2s-hqOpZEAuk7o4cxEa871V1LmGcvT5wf10,16056
 jaxsim/api/ode_data.py,sha256=ggF1AVaLW5QuXrfpNsFs-voVcW6gZkxK2Xe9GiDmou0,13755
 jaxsim/api/references.py,sha256=YkdZhRv8NoBC94qvpwn1w9_alVuxrfiZV5w5NHQIt-g,20737
@@ -58,7 +58,7 @@ jaxsim/rbda/utils.py,sha256=GLt7XIl1ROkx0_fnBCKUHYdB9_IBF3Yi4OnkHSX3gxA,5365
 jaxsim/rbda/contacts/__init__.py,sha256=L5MM-2pv76YPGzxExdz2EErgGBATuAjYnNHlq5QOySs,503
 jaxsim/rbda/contacts/common.py,sha256=7ZveKD4ddhUaW_-7mU315zyFdCBgzo60TRK74SOdFpY,10574
 jaxsim/rbda/contacts/relaxed_rigid.py,sha256=kwk1PoGtqE9e4n1ySNCIOoyZBSUkBj3BSKlgXFPZR6k,20563
-jaxsim/rbda/contacts/rigid.py,sha256=5fZooYtqy3Db0ef5x1PRX-eEYinp9nCcv4pMSIw1tLM,16161
+jaxsim/rbda/contacts/rigid.py,sha256=ISaUwE5vk4TlcDTYWd9q3SXT215_YrG5QgFf-SRBY6A,15469
 jaxsim/rbda/contacts/soft.py,sha256=XDzHVNrw0gbX8e-3uHVEOAK2OQiwlrnCur5HXsnPitc,16960
 jaxsim/rbda/contacts/visco_elastic.py,sha256=3CVnZpTZPjyaVO2O5-CiFeNvK3c8Gcw304EVXCcpUvA,39935
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
@@ -67,8 +67,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=Fxa555u14VUsVlKU1rBQFurrVzBp7BNsIaVoNko0lrI,11261
 jaxsim/utils/tracing.py,sha256=Btwxdfhb7fJLk3r5PlQkGYj60Y2KbFT1gANGIA697FU,530
 jaxsim/utils/wrappers.py,sha256=3IMwydqFgmSPqeuUQ3PRmdhDc1IoT6XC23jPC_LjWXs,4175
-jaxsim-0.5.1.dev139.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.5.1.dev139.dist-info/METADATA,sha256=lHheObCCOEXZ3SOwOVDjwn2GNHOLStob0PomYBUvmfU,19484
-jaxsim-0.5.1.dev139.dist-info/WHEEL,sha256=A3WOREP4zgxI0fKrHUG8DC8013e3dK3n7a6HDbcEIwE,91
-jaxsim-0.5.1.dev139.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.5.1.dev139.dist-info/RECORD,,
+jaxsim-0.5.1.dev147.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev147.dist-info/METADATA,sha256=LYzQ___gRWAJsixXYn9lRcbioNzj4-d62a8oDIvp-tg,19484
+jaxsim-0.5.1.dev147.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+jaxsim-0.5.1.dev147.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.5.1.dev147.dist-info/RECORD,,

{jaxsim-0.5.1.dev139.dist-info → jaxsim-0.5.1.dev147.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.7.0)
+Generator: setuptools (75.8.0)
 Root-Is-Purelib: true
 Tag: py3-none-any