jaxsim 0.5.1.dev15__py3-none-any.whl → 0.5.1.dev20__py3-none-any.whl

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Files changed (8) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/api/contact.py +1 -1
  3. jaxsim/rbda/contacts/relaxed_rigid.py +2 -2
  4. {jaxsim-0.5.1.dev15.dist-info → jaxsim-0.5.1.dev20.dist-info}/METADATA +1 -1
  5. {jaxsim-0.5.1.dev15.dist-info → jaxsim-0.5.1.dev20.dist-info}/RECORD +8 -8
  6. {jaxsim-0.5.1.dev15.dist-info → jaxsim-0.5.1.dev20.dist-info}/LICENSE +0 -0
  7. {jaxsim-0.5.1.dev15.dist-info → jaxsim-0.5.1.dev20.dist-info}/WHEEL +0 -0
  8. {jaxsim-0.5.1.dev15.dist-info → jaxsim-0.5.1.dev20.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 = '0.5.1.dev15'
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- __version_tuple__ = version_tuple = (0, 5, 1, 'dev15')
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+ __version__ = version = '0.5.1.dev20'
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+ __version_tuple__ = version_tuple = (0, 5, 1, 'dev20')
jaxsim/api/contact.py CHANGED
@@ -211,7 +211,7 @@ def collidable_point_dynamics(
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  W_H_C = (
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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(shape=(len(indices_of_enabled_collidable_points), 4, 4))
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+ else jnp.stack([jnp.eye(4)] * len(indices_of_enabled_collidable_points))
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  )
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  # Convert the 6D forces to the active representation.
jaxsim/rbda/contacts/relaxed_rigid.py CHANGED
@@ -461,8 +461,8 @@ class RelaxedRigidContacts(common.ContactModel):
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  terrain=model.terrain,
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  K=1e6,
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  D=2e3,
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- p=0.0,
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- q=0.0,
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+ p=0.5,
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+ q=0.5,
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  # No tangential initial forces.
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  mu=0.0,
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  tangential_deformation=jnp.zeros(3),
{jaxsim-0.5.1.dev15.dist-info → jaxsim-0.5.1.dev20.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: 0.5.1.dev15
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+ Version: 0.5.1.dev20
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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-0.5.1.dev15.dist-info → jaxsim-0.5.1.dev20.dist-info}/RECORD RENAMED
@@ -1,12 +1,12 @@
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  jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
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- jaxsim/_version.py,sha256=vZ6osR5S31orbH9k8WCF49p5y80vE01iHuobXco_4wQ,426
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+ jaxsim/_version.py,sha256=FcOu20Fjr3Xa2H04mxM56EPDkjZDMNyiWa6_hFL_hMs,426
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  jaxsim/exceptions.py,sha256=vSoScaRD4nvh6jltgK9Ry5pKnE0O5hb4_yI_pk_fvR8,2175
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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=cPE7FIUycGzmmNW4Zh9w7qsWd4cQYowo_Tg3mL2evL0,25657
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+ jaxsim/api/contact.py,sha256=nSH-89veHu6yzdlMPJN7HU-mY_lyc3bAw7KiP790Qx4,25658
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  jaxsim/api/data.py,sha256=ThRpoBlbdwf1N3xs8SWrY5d8RbfdYRwFcmkdIPgtee4,29004
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  jaxsim/api/frame.py,sha256=MT6Qpg5uJDnhik899QNpHskZMijgjMSOw-2v-t-kul4,14434
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  jaxsim/api/joint.py,sha256=8rCIxRMeAidsaBbw7kkGp6z3-UmBPtqmYmV_arHDQJ8,7365
@@ -56,7 +56,7 @@ jaxsim/rbda/rnea.py,sha256=CLfqs9XFVaD-hvkLABshDAfdw5bm_AMV3UVAQ_IvURQ,7542
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  jaxsim/rbda/utils.py,sha256=GLt7XIl1ROkx0_fnBCKUHYdB9_IBF3Yi4OnkHSX3gxA,5365
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  jaxsim/rbda/contacts/__init__.py,sha256=L5MM-2pv76YPGzxExdz2EErgGBATuAjYnNHlq5QOySs,503
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  jaxsim/rbda/contacts/common.py,sha256=mjOS1MJkf9zRfcAKBwmYtO5Vrcrv-kLFM57FfFB8LgM,11244
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- jaxsim/rbda/contacts/relaxed_rigid.py,sha256=I3Fz5WTJgIp9XBxBUKhJNwSlbx6VP8cZguzXu_Ch1W0,21678
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+ jaxsim/rbda/contacts/relaxed_rigid.py,sha256=FYdW0JRZT_NjEhhoLEsJs7qNV7NiXVPWG01ZkUTpUrc,21678
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  jaxsim/rbda/contacts/rigid.py,sha256=MSzkU6SFbW6CryNlyyxQ7K0-U-8k6VROGKv_DQrwqiw,17156
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  jaxsim/rbda/contacts/soft.py,sha256=t6bqBfGAtV1AWoevY82LAcXy2XW8w_uu7bNywcyxF0s,17001
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  jaxsim/rbda/contacts/visco_elastic.py,sha256=vQkfMuqQ3Qu8nbDTPY4jWBZjV3U7qtoRK1Aya3O3oFA,41424
@@ -66,8 +66,8 @@ 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=eEY28MZW0Lm_jJNt1NkFqZz0ek01tvhR46OXZYCo7tc,532
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  jaxsim/utils/wrappers.py,sha256=ZY7olSORzZRvSzkdeNLj8yjwUIAt9L0Douwl7wItjpk,4008
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- jaxsim-0.5.1.dev15.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.5.1.dev15.dist-info/METADATA,sha256=FWiRQPtrY025jPRO9quPaPPI8QVR6FT8EB16P5Nr0E8,17535
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- jaxsim-0.5.1.dev15.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
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- jaxsim-0.5.1.dev15.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.5.1.dev15.dist-info/RECORD,,
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+ jaxsim-0.5.1.dev20.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.5.1.dev20.dist-info/METADATA,sha256=HR9SbRy42XNn15aOl8eqn3-eNzXo2Zpn0-mmFi1u8FI,17535
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+ jaxsim-0.5.1.dev20.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
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+ jaxsim-0.5.1.dev20.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.5.1.dev20.dist-info/RECORD,,