jaxsim 0.5.1.dev2__py3-none-any.whl → 0.5.1.dev4__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.dev4'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev4')

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.dev4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev2
+Version: 0.5.1.dev4
 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.dev4.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=WrOoBsTPNibawODvIHWHaR6dpBCKQg4It8zAMDJwKsg,424
+jaxsim/_version.py,sha256=kBHKvLkt_lUTXay-8MPmfZGCokQy8t3nTKeR0Nhfk50,424
 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
@@ -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.dev4.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev4.dist-info/METADATA,sha256=xiGRKErM6KB7VBXY2an79HAlEo3c2i4LPAQqZdZSOPs,17534
+jaxsim-0.5.1.dev4.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+jaxsim-0.5.1.dev4.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.5.1.dev4.dist-info/RECORD,,