jaxsim 0.5.1.dev17__py3-none-any.whl → 0.5.1.dev24__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.dev17'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev17')
+__version__ = version = '0.5.1.dev24'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev24')

jaxsim/api/contact.py

@@ -211,7 +211,7 @@ def collidable_point_dynamics(
     W_H_C = (
         js.contact.transforms(model=model, data=data)
         if data.velocity_representation is not VelRepr.Inertial
-        else jnp.zeros(shape=(len(indices_of_enabled_collidable_points), 4, 4))
+        else jnp.stack([jnp.eye(4)] * len(indices_of_enabled_collidable_points))
     )
 
     # Convert the 6D forces to the active representation.

{jaxsim-0.5.1.dev17.dist-info → jaxsim-0.5.1.dev24.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev17
+Version: 0.5.1.dev24
 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>
@@ -164,7 +164,7 @@ The JaxSim API documentation is available at [jaxsim.readthedocs.io][readthedocs
 ## Installation
 
 <details>
-<summary>With conda</summary>
+<summary>With <code>conda</code></summary>
 
 You can install the project using [`conda`][conda] as follows:
 
@@ -177,7 +177,23 @@ You can enforce GPU support, if needed, by also specifying `"jaxlib = * = *cuda*
 </details>
 
 <details>
-<summary>With pip</summary>
+<summary>With <code>pixi</code></summary>
+
+> [!NOTE]
+> The minimum version of `pixi` required is `0.39.0`.
+
+You can install the default dependencies of the project using [`pixi`][pixi] as follows:
+
+```bash
+pixi install
+```
+
+See `pixi task list` for a list of available tasks.
+
+</details>
+
+<details>
+<summary>With <code>pip</code></summary>
 
 You can install the project using [`pypa/pip`][pip], preferably in a [virtual environment][venv], as follows:
 
@@ -212,6 +228,7 @@ pip install --no-deps -e .
 
 [conda]: https://anaconda.org/
 [pip]: https://github.com/pypa/pip/
+[pixi]: https://pixi.sh/
 [venv]: https://docs.python.org/3/tutorial/venv.html
 [jax_gpu]: https://github.com/google/jax/#installation
 

{jaxsim-0.5.1.dev17.dist-info → jaxsim-0.5.1.dev24.dist-info}/RECORD

@@ -1,12 +1,12 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=V13qJ6LfmkBms429_fJq7LUu_H7MG8Ta3Bbwofjur1w,426
+jaxsim/_version.py,sha256=jhM7ciLRfFJltcA0X7C5Adn5pIbSqnbwaSMWu6yJUos,426
 jaxsim/exceptions.py,sha256=vSoScaRD4nvh6jltgK9Ry5pKnE0O5hb4_yI_pk_fvR8,2175
 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=cPE7FIUycGzmmNW4Zh9w7qsWd4cQYowo_Tg3mL2evL0,25657
+jaxsim/api/contact.py,sha256=nSH-89veHu6yzdlMPJN7HU-mY_lyc3bAw7KiP790Qx4,25658
 jaxsim/api/data.py,sha256=ThRpoBlbdwf1N3xs8SWrY5d8RbfdYRwFcmkdIPgtee4,29004
 jaxsim/api/frame.py,sha256=MT6Qpg5uJDnhik899QNpHskZMijgjMSOw-2v-t-kul4,14434
 jaxsim/api/joint.py,sha256=8rCIxRMeAidsaBbw7kkGp6z3-UmBPtqmYmV_arHDQJ8,7365
@@ -66,8 +66,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=TGmTQV2Lq7Q-2nLoAEaeNtkPa_qj0IKkdBm4COj46Os,11312
 jaxsim/utils/tracing.py,sha256=eEY28MZW0Lm_jJNt1NkFqZz0ek01tvhR46OXZYCo7tc,532
 jaxsim/utils/wrappers.py,sha256=ZY7olSORzZRvSzkdeNLj8yjwUIAt9L0Douwl7wItjpk,4008
-jaxsim-0.5.1.dev17.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.5.1.dev17.dist-info/METADATA,sha256=ZLlPlWjr7Ezr-7YaVnFqLkfg6h4pG-OumQmS6-iSFNE,17535
-jaxsim-0.5.1.dev17.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-jaxsim-0.5.1.dev17.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.5.1.dev17.dist-info/RECORD,,
+jaxsim-0.5.1.dev24.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev24.dist-info/METADATA,sha256=4KVr4SUY9KDPIwEaPmjEDB3Gaz1oXeoXq2ZC6HKyTXk,17885
+jaxsim-0.5.1.dev24.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+jaxsim-0.5.1.dev24.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.5.1.dev24.dist-info/RECORD,,