jaxsim 0.5.1.dev17__tar.gz → 0.5.1.dev24__tar.gz

{jaxsim-0.5.1.dev17 → jaxsim-0.5.1.dev24}/PKG-INFO

@@ -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 → jaxsim-0.5.1.dev24}/README.md

@@ -74,7 +74,7 @@ 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:
 
@@ -87,7 +87,23 @@ 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:
 
@@ -122,6 +138,7 @@ 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.dev24/pixi.lock

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea898405d33dc9a7712d621c4539c523d766a7ef1c8e9e2e28942212b2aea97
+size 610957

{jaxsim-0.5.1.dev17 → jaxsim-0.5.1.dev24}/src/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-0.5.1.dev17 → jaxsim-0.5.1.dev24}/src/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 → jaxsim-0.5.1.dev24}/src/jaxsim.egg-info/PKG-INFO

@@ -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/pixi.lock

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:43f5763701feb1bc74566988909b383b0ba90248c1575c0fe54a325fcc59eeac
-size 670231