jaxsim 0.5.1.dev78__tar.gz → 0.5.1.dev80__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (133) hide show
  1. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/PKG-INFO +1 -1
  2. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/_version.py +2 -2
  3. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim.egg-info/PKG-INFO +1 -1
  4. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.devcontainer/Dockerfile +0 -0
  5. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.devcontainer/devcontainer.json +0 -0
  6. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.gitattributes +0 -0
  7. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.github/CODEOWNERS +0 -0
  8. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.github/dependabot.yml +0 -0
  9. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.github/workflows/ci_cd.yml +0 -0
  10. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.github/workflows/pixi.yml +0 -0
  11. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.github/workflows/read_the_docs.yml +0 -0
  12. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.gitignore +0 -0
  13. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.pre-commit-config.yaml +0 -0
  14. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.readthedocs.yaml +0 -0
  15. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/CONTRIBUTING.md +0 -0
  16. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/LICENSE +0 -0
  17. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/README.md +0 -0
  18. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/Makefile +0 -0
  19. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/conf.py +0 -0
  20. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/examples.rst +0 -0
  21. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/guide/configuration.rst +0 -0
  22. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/guide/install.rst +0 -0
  23. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/index.rst +0 -0
  24. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/make.bat +0 -0
  25. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/api.rst +0 -0
  26. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/integrators.rst +0 -0
  27. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/math.rst +0 -0
  28. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/mujoco.rst +0 -0
  29. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/parsers.rst +0 -0
  30. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/rbda.rst +0 -0
  31. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/typing.rst +0 -0
  32. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/modules/utils.rst +0 -0
  33. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/environment.yml +0 -0
  34. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/.gitattributes +0 -0
  35. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/.gitignore +0 -0
  36. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/README.md +0 -0
  37. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/assets/build_cartpole_urdf.py +0 -0
  38. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/assets/cartpole.urdf +0 -0
  39. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/jaxsim_as_multibody_dynamics_library.ipynb +0 -0
  40. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/jaxsim_as_physics_engine.ipynb +0 -0
  41. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/examples/jaxsim_for_robot_controllers.ipynb +0 -0
  42. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/pixi.lock +0 -0
  43. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/pyproject.toml +0 -0
  44. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/setup.cfg +0 -0
  45. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/setup.py +0 -0
  46. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/__init__.py +0 -0
  47. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/__init__.py +0 -0
  48. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/com.py +8 -8
  49. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/common.py +0 -0
  50. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/contact.py +9 -9
  51. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/data.py +0 -0
  52. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/frame.py +7 -7
  53. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/joint.py +4 -4
  54. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/kin_dyn_parameters.py +0 -0
  55. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/link.py +0 -0
  56. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/model.py +19 -19
  57. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/ode.py +3 -3
  58. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/ode_data.py +0 -0
  59. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/references.py +0 -0
  60. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/exceptions.py +0 -0
  61. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/integrators/__init__.py +0 -0
  62. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/integrators/common.py +0 -0
  63. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/integrators/fixed_step.py +0 -0
  64. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/integrators/variable_step.py +0 -0
  65. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/logging.py +0 -0
  66. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/__init__.py +0 -0
  67. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/adjoint.py +0 -0
  68. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/cross.py +0 -0
  69. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/inertia.py +0 -0
  70. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/joint_model.py +0 -0
  71. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/quaternion.py +0 -0
  72. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/rotation.py +0 -0
  73. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/skew.py +0 -0
  74. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/math/transform.py +0 -0
  75. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/mujoco/__init__.py +0 -0
  76. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/mujoco/__main__.py +0 -0
  77. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/mujoco/loaders.py +0 -0
  78. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/mujoco/model.py +0 -0
  79. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/mujoco/utils.py +0 -0
  80. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/mujoco/visualizer.py +0 -0
  81. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/__init__.py +0 -0
  82. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/descriptions/__init__.py +0 -0
  83. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/descriptions/collision.py +0 -0
  84. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/descriptions/joint.py +0 -0
  85. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/descriptions/link.py +0 -0
  86. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/descriptions/model.py +0 -0
  87. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/kinematic_graph.py +0 -0
  88. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/rod/__init__.py +0 -0
  89. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/rod/meshes.py +0 -0
  90. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/rod/parser.py +0 -0
  91. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/parsers/rod/utils.py +0 -0
  92. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/__init__.py +0 -0
  93. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/aba.py +0 -0
  94. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/collidable_points.py +0 -0
  95. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/contacts/__init__.py +0 -0
  96. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/contacts/common.py +0 -0
  97. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/contacts/relaxed_rigid.py +0 -0
  98. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/contacts/rigid.py +0 -0
  99. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/contacts/soft.py +0 -0
  100. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/contacts/visco_elastic.py +0 -0
  101. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/crba.py +0 -0
  102. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/forward_kinematics.py +0 -0
  103. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/jacobian.py +0 -0
  104. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/rnea.py +0 -0
  105. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/rbda/utils.py +0 -0
  106. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/terrain/__init__.py +0 -0
  107. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/terrain/terrain.py +0 -0
  108. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/typing.py +0 -0
  109. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/utils/__init__.py +0 -0
  110. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/utils/jaxsim_dataclass.py +0 -0
  111. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/utils/tracing.py +0 -0
  112. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/utils/wrappers.py +0 -0
  113. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim.egg-info/SOURCES.txt +0 -0
  114. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim.egg-info/dependency_links.txt +0 -0
  115. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim.egg-info/requires.txt +0 -0
  116. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim.egg-info/top_level.txt +0 -0
  117. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/__init__.py +0 -0
  118. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/conftest.py +0 -0
  119. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_api_com.py +0 -0
  120. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_api_contact.py +0 -0
  121. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_api_data.py +0 -0
  122. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_api_frame.py +0 -0
  123. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_api_joint.py +0 -0
  124. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_api_link.py +0 -0
  125. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_api_model.py +0 -0
  126. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_automatic_differentiation.py +0 -0
  127. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_benchmark.py +0 -0
  128. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_contact.py +0 -0
  129. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_exceptions.py +0 -0
  130. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_meshes.py +0 -0
  131. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_pytree.py +0 -0
  132. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/test_simulations.py +0 -0
  133. {jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/tests/utils_idyntree.py +0 -0
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: jaxsim
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- Version: 0.5.1.dev78
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+ Version: 0.5.1.dev80
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  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
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  Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
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  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/_version.py RENAMED
@@ -12,5 +12,5 @@ __version__: str
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  __version_tuple__: VERSION_TUPLE
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  version_tuple: VERSION_TUPLE
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- __version__ = version = '0.5.1.dev78'
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- __version_tuple__ = version_tuple = (0, 5, 1, 'dev78')
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+ __version__ = version = '0.5.1.dev80'
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+ __version_tuple__ = version_tuple = (0, 5, 1, 'dev80')
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: jaxsim
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- Version: 0.5.1.dev78
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+ Version: 0.5.1.dev80
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  Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
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  Author-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippoluca.ferretti@outlook.com>
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  Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Alessandro Croci <alessandro.croci@iit.it>
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/.gitignore RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/LICENSE RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/README.md RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/Makefile RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/conf.py RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/docs/make.bat RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/pixi.lock RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/setup.cfg RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/setup.py RENAMED
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{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/com.py RENAMED
@@ -8,8 +8,8 @@ import jaxsim.typing as jtp
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  from .common import VelRepr
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- @js.common.named_scope
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  @jax.jit
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+ @js.common.named_scope
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  def com_position(
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  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
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  ) -> jtp.Vector:
@@ -45,8 +45,8 @@ def com_position(
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  return (W_H_B @ B_p̃_CoM)[0:3].astype(float)
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- @js.common.named_scope
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  @jax.jit
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+ @js.common.named_scope
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  def com_linear_velocity(
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  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
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  ) -> jtp.Vector:
@@ -76,8 +76,8 @@ def com_linear_velocity(
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  return G_vl_WG
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- @js.common.named_scope
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  @jax.jit
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+ @js.common.named_scope
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  def centroidal_momentum(
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  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
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  ) -> jtp.Vector:
@@ -104,8 +104,8 @@ def centroidal_momentum(
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  return G_J @ ν
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- @js.common.named_scope
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  @jax.jit
108
+ @js.common.named_scope
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  def centroidal_momentum_jacobian(
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  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
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  ) -> jtp.Matrix:
@@ -153,8 +153,8 @@ def centroidal_momentum_jacobian(
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  return G_Xf_B @ B_Jh
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- @js.common.named_scope
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  @jax.jit
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+ @js.common.named_scope
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  def locked_centroidal_spatial_inertia(
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  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
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  ):
@@ -191,8 +191,8 @@ def locked_centroidal_spatial_inertia(
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  return G_Xf_B @ B_Mbb_B @ B_Xv_G
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- @js.common.named_scope
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  @jax.jit
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+ @js.common.named_scope
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  def average_centroidal_velocity(
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  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
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  ) -> jtp.Vector:
@@ -219,8 +219,8 @@ def average_centroidal_velocity(
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  return G_J @ ν
220
220
 
221
221
 
222
- @js.common.named_scope
223
222
  @jax.jit
223
+ @js.common.named_scope
224
224
  def average_centroidal_velocity_jacobian(
225
225
  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
226
226
  ) -> jtp.Matrix:
@@ -246,8 +246,8 @@ def average_centroidal_velocity_jacobian(
246
246
  return jnp.linalg.inv(G_Mbb) @ G_J
247
247
 
248
248
 
249
- @js.common.named_scope
250
249
  @jax.jit
250
+ @js.common.named_scope
251
251
  def bias_acceleration(
252
252
  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
253
253
  ) -> jtp.Vector:
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/contact.py RENAMED
@@ -16,8 +16,8 @@ from jaxsim.rbda import contacts
16
16
  from .common import VelRepr
17
17
 
18
18
 
19
- @js.common.named_scope
20
19
  @jax.jit
20
+ @js.common.named_scope
21
21
  def collidable_point_kinematics(
22
22
  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
23
23
  ) -> tuple[jtp.Matrix, jtp.Matrix]:
@@ -53,8 +53,8 @@ def collidable_point_kinematics(
53
53
  return W_p_Ci, W_ṗ_Ci
54
54
 
55
55
 
56
- @js.common.named_scope
57
56
  @jax.jit
57
+ @js.common.named_scope
58
58
  def collidable_point_positions(
59
59
  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
60
60
  ) -> jtp.Matrix:
@@ -74,8 +74,8 @@ def collidable_point_positions(
74
74
  return W_p_Ci
75
75
 
76
76
 
77
- @js.common.named_scope
78
77
  @jax.jit
78
+ @js.common.named_scope
79
79
  def collidable_point_velocities(
80
80
  model: js.model.JaxSimModel, data: js.data.JaxSimModelData
81
81
  ) -> jtp.Matrix:
@@ -95,8 +95,8 @@ def collidable_point_velocities(
95
95
  return W_ṗ_Ci
96
96
 
97
97
 
98
- @js.common.named_scope
99
98
  @jax.jit
99
+ @js.common.named_scope
100
100
  def collidable_point_forces(
101
101
  model: js.model.JaxSimModel,
102
102
  data: js.data.JaxSimModelData,
@@ -133,8 +133,8 @@ def collidable_point_forces(
133
133
  return f_Ci
134
134
 
135
135
 
136
- @js.common.named_scope
137
136
  @jax.jit
137
+ @js.common.named_scope
138
138
  def collidable_point_dynamics(
139
139
  model: js.model.JaxSimModel,
140
140
  data: js.data.JaxSimModelData,
@@ -232,8 +232,8 @@ def collidable_point_dynamics(
232
232
  return f_Ci, aux_data
233
233
 
234
234
 
235
- @js.common.named_scope
236
235
  @functools.partial(jax.jit, static_argnames=["link_names"])
236
+ @js.common.named_scope
237
237
  def in_contact(
238
238
  model: js.model.JaxSimModel,
239
239
  data: js.data.JaxSimModelData,
@@ -430,8 +430,8 @@ def estimate_good_contact_parameters(
430
430
  return parameters
431
431
 
432
432
 
433
- @js.common.named_scope
434
433
  @jax.jit
434
+ @js.common.named_scope
435
435
  def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
436
436
  r"""
437
437
  Return the pose of the enabled collidable points.
@@ -476,8 +476,8 @@ def transforms(model: js.model.JaxSimModel, data: js.data.JaxSimModelData) -> jt
476
476
  return jax.vmap(lambda W_H_Li, L_H_Ci: W_H_Li @ L_H_Ci)(W_H_L, L_H_C)
477
477
 
478
478
 
479
- @js.common.named_scope
480
479
  @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
480
+ @js.common.named_scope
481
481
  def jacobian(
482
482
  model: js.model.JaxSimModel,
483
483
  data: js.data.JaxSimModelData,
@@ -569,8 +569,8 @@ def jacobian(
569
569
  return O_J_WC
570
570
 
571
571
 
572
- @js.common.named_scope
573
572
  @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
573
+ @js.common.named_scope
574
574
  def jacobian_derivative(
575
575
  model: js.model.JaxSimModel,
576
576
  data: js.data.JaxSimModelData,
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/frame.py RENAMED
@@ -16,8 +16,8 @@ from .common import VelRepr
16
16
  # =======================
17
17
 
18
18
 
19
- @js.common.named_scope
20
19
  @jax.jit
20
+ @js.common.named_scope
21
21
  def idx_of_parent_link(
22
22
  model: js.model.JaxSimModel, *, frame_index: jtp.IntLike
23
23
  ) -> jtp.Int:
@@ -46,8 +46,8 @@ def idx_of_parent_link(
46
46
  ]
47
47
 
48
48
 
49
- @js.common.named_scope
50
49
  @functools.partial(jax.jit, static_argnames="frame_name")
50
+ @js.common.named_scope
51
51
  def name_to_idx(model: js.model.JaxSimModel, *, frame_name: str) -> jtp.Int:
52
52
  """
53
53
  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
99
99
  ]
100
100
 
101
101
 
102
- @js.common.named_scope
103
102
  @functools.partial(jax.jit, static_argnames=["frame_names"])
103
+ @js.common.named_scope
104
104
  def names_to_idxs(
105
105
  model: js.model.JaxSimModel, *, frame_names: Sequence[str]
106
106
  ) -> jax.Array:
@@ -142,8 +142,8 @@ def idxs_to_names(
142
142
  # ==========
143
143
 
144
144
 
145
- @js.common.named_scope
146
145
  @jax.jit
146
+ @js.common.named_scope
147
147
  def transform(
148
148
  model: js.model.JaxSimModel,
149
149
  data: js.data.JaxSimModelData,
@@ -184,8 +184,8 @@ def transform(
184
184
  return W_H_L @ L_H_F
185
185
 
186
186
 
187
- @js.common.named_scope
188
187
  @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
188
+ @js.common.named_scope
189
189
  def velocity(
190
190
  model: js.model.JaxSimModel,
191
191
  data: js.data.JaxSimModelData,
@@ -235,8 +235,8 @@ def velocity(
235
235
  return O_J_WF_I @ I_ν
236
236
 
237
237
 
238
- @js.common.named_scope
239
238
  @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
239
+ @js.common.named_scope
240
240
  def jacobian(
241
241
  model: js.model.JaxSimModel,
242
242
  data: js.data.JaxSimModelData,
@@ -315,8 +315,8 @@ def jacobian(
315
315
  return O_J_WL_I
316
316
 
317
317
 
318
- @js.common.named_scope
319
318
  @functools.partial(jax.jit, static_argnames=["output_vel_repr"])
319
+ @js.common.named_scope
320
320
  def jacobian_derivative(
321
321
  model: js.model.JaxSimModel,
322
322
  data: js.data.JaxSimModelData,
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/joint.py RENAMED
@@ -13,8 +13,8 @@ from jaxsim import exceptions
13
13
  # =======================
14
14
 
15
15
 
16
- @js.common.named_scope
17
16
  @functools.partial(jax.jit, static_argnames="joint_name")
17
+ @js.common.named_scope
18
18
  def name_to_idx(model: js.model.JaxSimModel, *, joint_name: str) -> jtp.Int:
19
19
  """
20
20
  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
62
62
  return model.kin_dyn_parameters.joint_model.joint_names[joint_index + 1]
63
63
 
64
64
 
65
- @js.common.named_scope
66
65
  @functools.partial(jax.jit, static_argnames="joint_names")
66
+ @js.common.named_scope
67
67
  def names_to_idxs(
68
68
  model: js.model.JaxSimModel, *, joint_names: Sequence[str]
69
69
  ) -> jax.Array:
@@ -143,8 +143,8 @@ def position_limit(
143
143
  return s_min.astype(float), s_max.astype(float)
144
144
 
145
145
 
146
- @js.common.named_scope
147
146
  @functools.partial(jax.jit, static_argnames=["joint_names"])
147
+ @js.common.named_scope
148
148
  def position_limits(
149
149
  model: js.model.JaxSimModel, *, joint_names: Sequence[str] | None = None
150
150
  ) -> tuple[jtp.Vector, jtp.Vector]:
@@ -179,8 +179,8 @@ def position_limits(
179
179
  # ======================
180
180
 
181
181
 
182
- @js.common.named_scope
183
182
  @functools.partial(jax.jit, static_argnames=["joint_names"])
183
+ @js.common.named_scope
184
184
  def random_joint_positions(
185
185
  model: js.model.JaxSimModel,
186
186
  *,
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/model.py RENAMED
@@ -492,8 +492,8 @@ def reduce(
492
492
  # ===================
493
493
 
494
494
 
495
- @js.common.named_scope
496
495
  @jax.jit
496
+ @js.common.named_scope
497
497
  def total_mass(model: JaxSimModel) -> jtp.Float:
498
498
  """
499
499
  Compute the total mass of the model.
@@ -508,8 +508,8 @@ def total_mass(model: JaxSimModel) -> jtp.Float:
508
508
  return model.kin_dyn_parameters.link_parameters.mass.sum().astype(float)
509
509
 
510
510
 
511
- @js.common.named_scope
512
511
  @jax.jit
512
+ @js.common.named_scope
513
513
  def link_spatial_inertia_matrices(model: JaxSimModel) -> jtp.Array:
514
514
  """
515
515
  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:
531
531
  # ==============================
532
532
 
533
533
 
534
- @js.common.named_scope
535
534
  @jax.jit
535
+ @js.common.named_scope
536
536
  def forward_kinematics(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Array:
537
537
  """
538
538
  Compute the SE(3) transforms from the world frame to the frames of all links.
@@ -919,8 +919,8 @@ def forward_dynamics(
919
919
  )
920
920
 
921
921
 
922
- @js.common.named_scope
923
922
  @jax.jit
923
+ @js.common.named_scope
924
924
  def forward_dynamics_aba(
925
925
  model: JaxSimModel,
926
926
  data: js.data.JaxSimModelData,
@@ -1064,8 +1064,8 @@ def forward_dynamics_aba(
1064
1064
  return C_v̇_WB.astype(float), s̈.astype(float)
1065
1065
 
1066
1066
 
1067
- @js.common.named_scope
1068
1067
  @jax.jit
1068
+ @js.common.named_scope
1069
1069
  def forward_dynamics_crb(
1070
1070
  model: JaxSimModel,
1071
1071
  data: js.data.JaxSimModelData,
@@ -1156,8 +1156,8 @@ def forward_dynamics_crb(
1156
1156
  return v̇_WB, s̈
1157
1157
 
1158
1158
 
1159
- @js.common.named_scope
1160
1159
  @jax.jit
1160
+ @js.common.named_scope
1161
1161
  def free_floating_mass_matrix(
1162
1162
  model: JaxSimModel, data: js.data.JaxSimModelData
1163
1163
  ) -> jtp.Matrix:
@@ -1202,8 +1202,8 @@ def free_floating_mass_matrix(
1202
1202
  raise ValueError(data.velocity_representation)
1203
1203
 
1204
1204
 
1205
- @js.common.named_scope
1206
1205
  @jax.jit
1206
+ @js.common.named_scope
1207
1207
  def free_floating_coriolis_matrix(
1208
1208
  model: JaxSimModel, data: js.data.JaxSimModelData
1209
1209
  ) -> jtp.Matrix:
@@ -1319,8 +1319,8 @@ def free_floating_coriolis_matrix(
1319
1319
  raise ValueError(data.velocity_representation)
1320
1320
 
1321
1321
 
1322
- @js.common.named_scope
1323
1322
  @jax.jit
1323
+ @js.common.named_scope
1324
1324
  def inverse_dynamics(
1325
1325
  model: JaxSimModel,
1326
1326
  data: js.data.JaxSimModelData,
@@ -1475,8 +1475,8 @@ def inverse_dynamics(
1475
1475
  return f_B.astype(float), τ.astype(float)
1476
1476
 
1477
1477
 
1478
- @js.common.named_scope
1479
1478
  @jax.jit
1479
+ @js.common.named_scope
1480
1480
  def free_floating_gravity_forces(
1481
1481
  model: JaxSimModel, data: js.data.JaxSimModelData
1482
1482
  ) -> jtp.Vector:
@@ -1525,8 +1525,8 @@ def free_floating_gravity_forces(
1525
1525
  ).astype(float)
1526
1526
 
1527
1527
 
1528
- @js.common.named_scope
1529
1528
  @jax.jit
1529
+ @js.common.named_scope
1530
1530
  def free_floating_bias_forces(
1531
1531
  model: JaxSimModel, data: js.data.JaxSimModelData
1532
1532
  ) -> jtp.Vector:
@@ -1595,8 +1595,8 @@ def free_floating_bias_forces(
1595
1595
  # ==========================
1596
1596
 
1597
1597
 
1598
- @js.common.named_scope
1599
1598
  @jax.jit
1599
+ @js.common.named_scope
1600
1600
  def locked_spatial_inertia(
1601
1601
  model: JaxSimModel, data: js.data.JaxSimModelData
1602
1602
  ) -> jtp.Matrix:
@@ -1614,8 +1614,8 @@ def locked_spatial_inertia(
1614
1614
  return total_momentum_jacobian(model=model, data=data)[:, 0:6]
1615
1615
 
1616
1616
 
1617
- @js.common.named_scope
1618
1617
  @jax.jit
1618
+ @js.common.named_scope
1619
1619
  def total_momentum(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
1620
1620
  """
1621
1621
  Compute the total momentum of the model.
@@ -1703,8 +1703,8 @@ def total_momentum_jacobian(
1703
1703
  raise ValueError(output_vel_repr)
1704
1704
 
1705
1705
 
1706
- @js.common.named_scope
1707
1706
  @jax.jit
1707
+ @js.common.named_scope
1708
1708
  def average_velocity(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Vector:
1709
1709
  """
1710
1710
  Compute the average velocity of the model.
@@ -1792,8 +1792,8 @@ def average_velocity_jacobian(
1792
1792
  # ========================
1793
1793
 
1794
1794
 
1795
- @js.common.named_scope
1796
1795
  @jax.jit
1796
+ @js.common.named_scope
1797
1797
  def link_bias_accelerations(
1798
1798
  model: JaxSimModel,
1799
1799
  data: js.data.JaxSimModelData,
@@ -2002,8 +2002,8 @@ def link_bias_accelerations(
2002
2002
  return O_v̇_WL
2003
2003
 
2004
2004
 
2005
- @js.common.named_scope
2006
2005
  @jax.jit
2006
+ @js.common.named_scope
2007
2007
  def link_contact_forces(
2008
2008
  model: js.model.JaxSimModel,
2009
2009
  data: js.data.JaxSimModelData,
@@ -2078,8 +2078,8 @@ def link_contact_forces(
2078
2078
  # ======
2079
2079
 
2080
2080
 
2081
- @js.common.named_scope
2082
2081
  @jax.jit
2082
+ @js.common.named_scope
2083
2083
  def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
2084
2084
  """
2085
2085
  Compute the mechanical energy of the model.
@@ -2098,8 +2098,8 @@ def mechanical_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.
2098
2098
  return (K + U).astype(float)
2099
2099
 
2100
2100
 
2101
- @js.common.named_scope
2102
2101
  @jax.jit
2102
+ @js.common.named_scope
2103
2103
  def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
2104
2104
  """
2105
2105
  Compute the kinetic energy of the model.
@@ -2120,8 +2120,8 @@ def kinetic_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Flo
2120
2120
  return K.squeeze().astype(float)
2121
2121
 
2122
2122
 
2123
- @js.common.named_scope
2124
2123
  @jax.jit
2124
+ @js.common.named_scope
2125
2125
  def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Float:
2126
2126
  """
2127
2127
  Compute the potential energy of the model.
@@ -2147,8 +2147,8 @@ def potential_energy(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.F
2147
2147
  # ==========
2148
2148
 
2149
2149
 
2150
- @js.common.named_scope
2151
2150
  @jax.jit
2151
+ @js.common.named_scope
2152
2152
  def step(
2153
2153
  model: JaxSimModel,
2154
2154
  data: js.data.JaxSimModelData,
{jaxsim-0.5.1.dev78 → jaxsim-0.5.1.dev80}/src/jaxsim/api/ode.py RENAMED
@@ -85,8 +85,8 @@ def wrap_system_dynamics_for_integration(
85
85
  # ==================================
86
86
 
87
87
 
88
- @js.common.named_scope
89
88
  @jax.jit
89
+ @js.common.named_scope
90
90
  def system_velocity_dynamics(
91
91
  model: js.model.JaxSimModel,
92
92
  data: js.data.JaxSimModelData,
@@ -332,8 +332,8 @@ def system_acceleration(
332
332
  return v̇_WB, s̈
333
333
 
334
334
 
335
- @js.common.named_scope
336
335
  @jax.jit
336
+ @js.common.named_scope
337
337
  def system_position_dynamics(
338
338
  model: js.model.JaxSimModel,
339
339
  data: js.data.JaxSimModelData,
@@ -372,8 +372,8 @@ def system_position_dynamics(
372
372
  return W_ṗ_B, W_Q̇_B, ṡ
373
373
 
374
374
 
375
- @js.common.named_scope
376
375
  @jax.jit
376
+ @js.common.named_scope
377
377
  def system_dynamics(
378
378
  model: js.model.JaxSimModel,
379
379
  data: js.data.JaxSimModelData,