jaxsim 0.5.1.dev78__py3-none-any.whl → 0.5.1.dev80__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.dev78'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev78')
+__version__ = version = '0.5.1.dev80'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev80')

jaxsim/api/com.py

@@ -8,8 +8,8 @@ import jaxsim.typing as jtp
 from .common import VelRepr
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def com_position(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -45,8 +45,8 @@ def com_position(
     return (W_H_B @ B_p̃_CoM)[0:3].astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def com_linear_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -76,8 +76,8 @@ def com_linear_velocity(
     return G_vl_WG
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def centroidal_momentum(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -104,8 +104,8 @@ def centroidal_momentum(
     return G_J @ ν
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def centroidal_momentum_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -153,8 +153,8 @@ def centroidal_momentum_jacobian(
     return G_Xf_B @ B_Jh
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def locked_centroidal_spatial_inertia(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ):
@@ -191,8 +191,8 @@ def locked_centroidal_spatial_inertia(
     return G_Xf_B @ B_Mbb_B @ B_Xv_G
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_centroidal_velocity(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -219,8 +219,8 @@ def average_centroidal_velocity(
     return G_J @ ν
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_centroidal_velocity_jacobian(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -246,8 +246,8 @@ def average_centroidal_velocity_jacobian(
     return jnp.linalg.inv(G_Mbb) @ G_J
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def bias_acceleration(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:

jaxsim/api/contact.py

@@ -16,8 +16,8 @@ from jaxsim.rbda import contacts
 from .common import VelRepr
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_kinematics(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> tuple[jtp.Matrix, jtp.Matrix]:
@@ -53,8 +53,8 @@ def collidable_point_kinematics(
     return W_p_Ci, W_ṗ_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_positions(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -74,8 +74,8 @@ def collidable_point_positions(
     return W_p_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_velocities(
     model: js.model.JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -95,8 +95,8 @@ def collidable_point_velocities(
     return W_ṗ_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_forces(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -133,8 +133,8 @@ def collidable_point_forces(
     return f_Ci
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def collidable_point_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -232,8 +232,8 @@ def collidable_point_dynamics(
     return f_Ci, aux_data
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["link_names"])
+@js.common.named_scope
 def in_contact(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -430,8 +430,8 @@ def estimate_good_contact_parameters(
     return parameters
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
     r"""
     Return the pose of the enabled collidable points.
@@ -476,8 +476,8 @@ def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jt
     return jax.vmap(lambda W_H_Li, L_H_Ci: W_H_Li @ L_H_Ci)(W_H_L, L_H_C)
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -569,8 +569,8 @@ def jacobian(
     return O_J_WC
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian_derivative(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,

jaxsim/api/frame.py

@@ -16,8 +16,8 @@ from .common import VelRepr
 # =======================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def idx_of_parent_link(
     model: js.model.JaxSimModel, *, frame_index: jtp.IntLike
 ) -> jtp.Int:
@@ -46,8 +46,8 @@ def idx_of_parent_link(
     ]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="frame_name")
+@js.common.named_scope
 def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.Int:
     """
     Convert the name of a frame to its index.
@@ -99,8 +99,8 @@ def idx_to_name(model: js.model.JaxSimModel, *, frame_index: jtp.IntLike) -> str
     ]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["frame_names"])
+@js.common.named_scope
 def names_to_idxs(
     model: js.model.JaxSimModel, *, frame_names: Sequence[str]
 ) -> jax.Array:
@@ -142,8 +142,8 @@ def idxs_to_names(
 # ==========
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def transform(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -184,8 +184,8 @@ def transform(
     return W_H_L @ L_H_F
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def velocity(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -235,8 +235,8 @@ def velocity(
     return O_J_WF_I @ I_ν
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -315,8 +315,8 @@ def jacobian(
     return O_J_WL_I
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
+@js.common.named_scope
 def jacobian_derivative(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,

jaxsim/api/joint.py

@@ -13,8 +13,8 @@ from jaxsim import exceptions
 # =======================
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_name")
+@js.common.named_scope
 def name_to_idx(model: js.model.JaxSimModel, *, joint_name: str) -> jtp.Int:
     """
     Convert the name of a joint to its index.
@@ -62,8 +62,8 @@ def idx_to_name(model: js.model.JaxSimModel, *, joint_index: jtp.IntLike) -> str
     return model.kin_dyn_parameters.joint_model.joint_names[joint_index + 1]
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames="joint_names")
+@js.common.named_scope
 def names_to_idxs(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str]
 ) -> jax.Array:
@@ -143,8 +143,8 @@ def position_limit(
     return s_min.astype(float), s_max.astype(float)
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
+@js.common.named_scope
 def position_limits(
     model: js.model.JaxSimModel, *, joint_names: Sequence[str] | None = None
 ) -> tuple[jtp.Vector, jtp.Vector]:
@@ -179,8 +179,8 @@ def position_limits(
 # ======================
 
 
-@js.common.named_scope
 @functools.partial(jax.jit, static_argnames=["joint_names"])
+@js.common.named_scope
 def random_joint_positions(
     model: js.model.JaxSimModel,
     *,

jaxsim/api/model.py

@@ -492,8 +492,8 @@ def reduce(
 # ===================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def total_mass(model: JaxSimModel) -> jtp.Float:
     """
     Compute the total mass of the model.
@@ -508,8 +508,8 @@ def total_mass(model: JaxSimModel) -> jtp.Float:
     return model.kin_dyn_parameters.link_parameters.mass.sum().astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array:
     """
     Compute the spatial 6D inertia matrices of all links of the model.
@@ -531,8 +531,8 @@ def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array:
 # ==============================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_kinematics(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
     """
     Compute the SE(3) transforms from the world frame to the frames of all links.
@@ -919,8 +919,8 @@ def forward_dynamics(
     )
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_dynamics_aba(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1064,8 +1064,8 @@ def forward_dynamics_aba(
     return C_v̇_WB.astype(float), s̈.astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def forward_dynamics_crb(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1156,8 +1156,8 @@ def forward_dynamics_crb(
     return v̇_WB, s̈
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_mass_matrix(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1202,8 +1202,8 @@ def free_floating_mass_matrix(
             raise ValueError(data.velocity_representation)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_coriolis_matrix(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1319,8 +1319,8 @@ def free_floating_coriolis_matrix(
             raise ValueError(data.velocity_representation)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def inverse_dynamics(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -1475,8 +1475,8 @@ def inverse_dynamics(
     return f_B.astype(float), τ.astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_gravity_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -1525,8 +1525,8 @@ def free_floating_gravity_forces(
     ).astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def free_floating_bias_forces(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Vector:
@@ -1595,8 +1595,8 @@ def free_floating_bias_forces(
 # ==========================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def locked_spatial_inertia(
     model: JaxSimModel, data: js.data.JaxSimModelData
 ) -> jtp.Matrix:
@@ -1614,8 +1614,8 @@ def locked_spatial_inertia(
     return total_momentum_jacobian(model=model, data=data)[:, 0:6]
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def total_momentum(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
     """
     Compute the total momentum of the model.
@@ -1703,8 +1703,8 @@ def total_momentum_jacobian(
             raise ValueError(output_vel_repr)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def average_velocity(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
     """
     Compute the average velocity of the model.
@@ -1792,8 +1792,8 @@ def average_velocity_jacobian(
 # ========================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_bias_accelerations(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -2002,8 +2002,8 @@ def link_bias_accelerations(
     return O_v̇_WL
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def link_contact_forces(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -2078,8 +2078,8 @@ def link_contact_forces(
 # ======
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the mechanical energy of the model.
@@ -2098,8 +2098,8 @@ def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.
     return (K + U).astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the kinetic energy of the model.
@@ -2120,8 +2120,8 @@ def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Flo
     return K.squeeze().astype(float)
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
     """
     Compute the potential energy of the model.
@@ -2147,8 +2147,8 @@ def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.F
 # ==========
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def step(
     model: JaxSimModel,
     data: js.data.JaxSimModelData,

jaxsim/api/ode.py

@@ -85,8 +85,8 @@ def wrap_system_dynamics_for_integration(
 # ==================================
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_velocity_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -332,8 +332,8 @@ def system_acceleration(
     return v̇_WB, s̈
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_position_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
@@ -372,8 +372,8 @@ def system_position_dynamics(
     return W_ṗ_B, W_Q̇_B, ṡ
 
 
-@js.common.named_scope
 @jax.jit
+@js.common.named_scope
 def system_dynamics(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,

{jaxsim-0.5.1.dev78.dist-info → jaxsim-0.5.1.dev80.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev78
+Version: 0.5.1.dev80
 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.dev78.dist-info → jaxsim-0.5.1.dev80.dist-info}/RECORD

@@ -1,19 +1,19 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=TmLupZ1937qo0XffEmIyFP-qoEQjDF4qIlPBbSsfF_0,426
+jaxsim/_version.py,sha256=Pgkup95DqiRSmJbc1AguyqtJc5tX-oi0WyBIP9u_h1Q,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=eZEF2nAwe8FdEcTz9v--VUn6mTSRjI5nGtRpeXXW_AA,13826
+jaxsim/api/com.py,sha256=5fYNRUhKE5VGGdW88zY8mqqEy5VTWyaHu5k6MgW4Jt4,13826
 jaxsim/api/common.py,sha256=SvEOGxCKOxKLLVHaNp1sFkBX0sku3-wH0-HUlYVWCDk,7090
-jaxsim/api/contact.py,sha256=GFPLolO4feVUSWrLbHwvV64bD14ESzGFhoiCTJ_Im2Q,25421
+jaxsim/api/contact.py,sha256=vfW-HEvQcAUHl7dOOwI-ndRxgMeAtkKT7tTaMDFlh7k,25421
 jaxsim/api/data.py,sha256=hz8g-P0o7XoDYyUFPx6yA8QlgHmjfFf2_OdiwcRV6W8,30292
-jaxsim/api/frame.py,sha256=7V6ih6cUe5cBKp8GKD0mZ7Zm-e3lj7qiffoAcVgZ76o,14595
-jaxsim/api/joint.py,sha256=P4j_5caFs_YkV_jHI_98hko0Q5-CmWAYCqHgr8eGILY,7457
+jaxsim/api/frame.py,sha256=d6pa6vywGDqfaJU76F_-yjLJs6R3mrjZ6B-KXPu6f3Q,14595
+jaxsim/api/joint.py,sha256=AnqlNWmBOay-gsoo0y4AbfFQ2OCJm-8T1E0IMhZeLoY,7457
 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=RYoRBOMNmnkXh3M2myZojQ96a9E10Z5Zcdf586OwPro,80176
-jaxsim/api/ode.py,sha256=3pSKJaZ6NrtADuulUUNmp_828PDXELgENPjhQ9UeJCc,15429
+jaxsim/api/model.py,sha256=9c3Cw8SitS6-yLNrlWEa7zygacn4Yf2Y1zp8Dlg7SFE,80176
+jaxsim/api/ode.py,sha256=SIg7UKDkJxhS0FlMH6iqipn7WoQWjpQP6EFdvEBkdts,15429
 jaxsim/api/ode_data.py,sha256=ggF1AVaLW5QuXrfpNsFs-voVcW6gZkxK2Xe9GiDmou0,13755
 jaxsim/api/references.py,sha256=YkdZhRv8NoBC94qvpwn1w9_alVuxrfiZV5w5NHQIt-g,20737
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
@@ -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.dev78.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.5.1.dev78.dist-info/METADATA,sha256=eheXKxXHQSwsuXtEZOU80QD5JZggOjUnpUTTHFl26Hw,17937
-jaxsim-0.5.1.dev78.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-jaxsim-0.5.1.dev78.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.5.1.dev78.dist-info/RECORD,,
+jaxsim-0.5.1.dev80.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.5.1.dev80.dist-info/METADATA,sha256=bUiJbnlJuTxCG6WoJi8miJaQ36YQPwDfMMF_98hGjrw,17937
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