jaxsim 0.5.1.dev2__py3-none-any.whl → 0.5.1.dev12__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.dev2'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev2')
+__version__ = version = '0.5.1.dev12'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev12')

jaxsim/api/frame.py

@@ -58,7 +58,7 @@ def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.Int:
         The index of the frame.
     """
 
-    if frame_name not in model.kin_dyn_parameters.frame_parameters.name:
+    if frame_name not in model.frame_names():
         raise ValueError(f"Frame '{frame_name}' not found in the model.")
 
     return (
@@ -180,6 +180,56 @@ def transform(
     return W_H_L @ L_H_F
 
 
+@functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+def velocity(
+    model: js.model.JaxSimModel,
+    data: js.data.JaxSimModelData,
+    *,
+    frame_index: jtp.IntLike,
+    output_vel_repr: VelRepr | None = None,
+) -> jtp.Vector:
+    """
+    Compute the 6D velocity of the frame.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+        frame_index: The index of the frame.
+        output_vel_repr:
+            The output velocity representation of the frame velocity.
+
+    Returns:
+        The 6D velocity of the frame in the specified velocity representation.
+    """
+    n_l = model.number_of_links()
+    n_f = model.number_of_frames()
+
+    exceptions.raise_value_error_if(
+        condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(),
+        msg="Invalid frame index '{idx}'",
+        idx=frame_index,
+    )
+
+    output_vel_repr = (
+        output_vel_repr if output_vel_repr is not None else data.velocity_representation
+    )
+
+    # Get the frame jacobian having I as input representation (taken from data)
+    # and O as output representation, specified by the user (or taken from data).
+    O_J_WF_I = jacobian(
+        model=model,
+        data=data,
+        frame_index=frame_index,
+        output_vel_repr=output_vel_repr,
+    )
+
+    # Get the generalized velocity in the input velocity representation.
+    I_ν = data.generalized_velocity()
+
+    # Compute the frame velocity in the output velocity representation.
+    return O_J_WF_I @ I_ν
+
+
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
 def jacobian(
     model: js.model.JaxSimModel,
@@ -207,7 +257,7 @@ def jacobian(
     """
 
     n_l = model.number_of_links()
-    n_f = len(model.frame_names())
+    n_f = model.number_of_frames()
 
     exceptions.raise_value_error_if(
         condition=jnp.array([frame_index < n_l, frame_index >= n_l + n_f]).any(),

jaxsim/api/kin_dyn_parameters.py

@@ -268,6 +268,16 @@ class KynDynParameters(JaxsimDataclass):
 
         return len(self.joint_model.joint_names) - 1
 
+    def number_of_frames(self) -> int:
+        """
+        Return the number of frames of the model.
+
+        Returns:
+            The number of frames of the model.
+        """
+
+        return len(self.frame_parameters.name)
+
     def support_body_array(self, link_index: jtp.IntLike) -> jtp.Vector:
         r"""
         Return the support parent array :math:`\kappa(i)` of a link.

jaxsim/api/model.py

@@ -327,6 +327,17 @@ class JaxSimModel(JaxsimDataclass):
 
         return self.kin_dyn_parameters.number_of_joints()
 
+    def number_of_frames(self) -> int:
+        """
+        Return the number of frames in the model.
+
+        Returns:
+            The number of frames in the model.
+
+        """
+
+        return self.kin_dyn_parameters.number_of_frames()
+
     # =================
     # Base link methods
     # =================

jaxsim/rbda/contacts/relaxed_rigid.py

@@ -376,7 +376,7 @@ class RelaxedRigidContacts(common.ContactModel):
 
         # Compute the Delassus matrix and the free mixed linear acceleration of
         # the collidable points.
-        G = Jl_WC @ jnp.linalg.lstsq(M, Jl_WC.T)[0]
+        G = Jl_WC @ jnp.linalg.pinv(M) @ Jl_WC.T
         CW_al_free_WC = Jl_WC @ BW_ν̇_free + J̇_WC @ BW_ν
 
         # Calculate quantities for the linear optimization problem.

{jaxsim-0.5.1.dev2.dist-info → jaxsim-0.5.1.dev12.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev2
+Version: 0.5.1.dev12
 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.dev2.dist-info → jaxsim-0.5.1.dev12.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=WrOoBsTPNibawODvIHWHaR6dpBCKQg4It8zAMDJwKsg,424
+jaxsim/_version.py,sha256=2_bzGZzjfnjGwYxBgYuEQv-xkgzgn4lj1OXQDabjdJ4,426
 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
@@ -8,11 +8,11 @@ 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/data.py,sha256=ThRpoBlbdwf1N3xs8SWrY5d8RbfdYRwFcmkdIPgtee4,29004
-jaxsim/api/frame.py,sha256=yPSgNygHkvWlln4wShNt7vZm_fFobVEm7phsklNNyH8,12922
+jaxsim/api/frame.py,sha256=MT6Qpg5uJDnhik899QNpHskZMijgjMSOw-2v-t-kul4,14434
 jaxsim/api/joint.py,sha256=8rCIxRMeAidsaBbw7kkGp6z3-UmBPtqmYmV_arHDQJ8,7365
-jaxsim/api/kin_dyn_parameters.py,sha256=Y9wnMshz83Zm4UEPOAOTINdtfkBZ86w853c8Yi2qaVs,29670
+jaxsim/api/kin_dyn_parameters.py,sha256=wnto0nzzEJ_M8tH2PUdldEyxQwQdsStYUoQFu696uuw,29897
 jaxsim/api/link.py,sha256=nHjffhNdi_xGkteMsqdb_hC9mdV9rNw7k3pl89Uhw_8,12798
-jaxsim/api/model.py,sha256=HVoZ8AtFe5XOq8GlPbtpbMy-gzo4o1gM5gPchH0tHGw,79562
+jaxsim/api/model.py,sha256=pNO-m7ZbHFvuGftu-ngvj05z8Fo0WOT69dU71fl_hA8,79801
 jaxsim/api/ode.py,sha256=_t18avoCJngQk6eMFTGpaeahbpchQP20qJnUOCPkz8s,15360
 jaxsim/api/ode_data.py,sha256=1SD-x-lYk_YSEnVpxTLd69uOKC0mFUj44ZqpSmEDOxw,20190
 jaxsim/api/references.py,sha256=eIOk3MAOc9LJSKfI8M4WA8gGD-meo50vRfhXdea4sNI,20539
@@ -56,7 +56,7 @@ jaxsim/rbda/rnea.py,sha256=CLfqs9XFVaD-hvkLABshDAfdw5bm_AMV3UVAQ_IvURQ,7542
 jaxsim/rbda/utils.py,sha256=GLt7XIl1ROkx0_fnBCKUHYdB9_IBF3Yi4OnkHSX3gxA,5365
 jaxsim/rbda/contacts/__init__.py,sha256=L5MM-2pv76YPGzxExdz2EErgGBATuAjYnNHlq5QOySs,503
 jaxsim/rbda/contacts/common.py,sha256=mjOS1MJkf9zRfcAKBwmYtO5Vrcrv-kLFM57FfFB8LgM,11244
-jaxsim/rbda/contacts/relaxed_rigid.py,sha256=u7WliwuKff2RjS85eIEtJXbDLilZMqlz-j46-Pv7QAw,21681
+jaxsim/rbda/contacts/relaxed_rigid.py,sha256=I3Fz5WTJgIp9XBxBUKhJNwSlbx6VP8cZguzXu_Ch1W0,21678
 jaxsim/rbda/contacts/rigid.py,sha256=MSzkU6SFbW6CryNlyyxQ7K0-U-8k6VROGKv_DQrwqiw,17156
 jaxsim/rbda/contacts/soft.py,sha256=t6bqBfGAtV1AWoevY82LAcXy2XW8w_uu7bNywcyxF0s,17001
 jaxsim/rbda/contacts/visco_elastic.py,sha256=vQkfMuqQ3Qu8nbDTPY4jWBZjV3U7qtoRK1Aya3O3oFA,41424
@@ -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.dev2.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.5.1.dev2.dist-info/METADATA,sha256=ssJ0fSQiK3p0xTNfDDPSlmWRwyI2B-vmVY4ySGLijVk,17534
-jaxsim-0.5.1.dev2.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-jaxsim-0.5.1.dev2.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.5.1.dev2.dist-info/RECORD,,
+jaxsim-0.5.1.dev12.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev12.dist-info/METADATA,sha256=9QS_0QH1kZvb1ObTztto40bXnMMJ0l92_-ftdq45dZw,17535
+jaxsim-0.5.1.dev12.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+jaxsim-0.5.1.dev12.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.5.1.dev12.dist-info/RECORD,,