jaxsim 0.6.1.dev9__py3-none-any.whl → 0.6.1.dev13__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/math/rotation.py +9 -18
  3. {jaxsim-0.6.1.dev9.dist-info → jaxsim-0.6.1.dev13.dist-info}/METADATA +1 -1
  4. {jaxsim-0.6.1.dev9.dist-info → jaxsim-0.6.1.dev13.dist-info}/RECORD +7 -7
  5. {jaxsim-0.6.1.dev9.dist-info → jaxsim-0.6.1.dev13.dist-info}/LICENSE +0 -0
  6. {jaxsim-0.6.1.dev9.dist-info → jaxsim-0.6.1.dev13.dist-info}/WHEEL +0 -0
  7. {jaxsim-0.6.1.dev9.dist-info → jaxsim-0.6.1.dev13.dist-info}/top_level.txt +0 -0
jaxsim/_version.py CHANGED
@@ -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 = '0.6.1.dev9'
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- __version_tuple__ = version_tuple = (0, 6, 1, 'dev9')
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+ __version__ = version = '0.6.1.dev13'
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+ __version_tuple__ = version_tuple = (0, 6, 1, 'dev13')
jaxsim/math/rotation.py CHANGED
@@ -68,26 +68,17 @@ class Rotation:
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  vector = vector.squeeze()
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- def theta_is_not_zero(axis: jtp.Vector) -> jtp.Matrix:
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+ theta = safe_norm(vector)
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- v = axis
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- theta = safe_norm(v)
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+ s = jnp.sin(theta)
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+ c = jnp.cos(theta)
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- s = jnp.sin(theta)
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- c = jnp.cos(theta)
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+ c1 = 2 * jnp.sin(theta / 2.0) ** 2
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- c1 = 2 * jnp.sin(theta / 2.0) ** 2
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+ safe_theta = jnp.where(theta == 0, 1.0, theta)
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+ u = vector / safe_theta
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+ u = jnp.vstack(u.squeeze())
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- u = v / theta
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- u = jnp.vstack(u.squeeze())
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+ R = c * jnp.eye(3) - s * Skew.wedge(u) + c1 * u @ u.T
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- R = c * jnp.eye(3) - s * Skew.wedge(u) + c1 * u @ u.T
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-
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- return R.transpose()
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-
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- return jnp.where(
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- jnp.allclose(vector, 0.0),
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- # Return an identity rotation matrix when the input vector is zero.
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- jnp.eye(3),
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- theta_is_not_zero(axis=vector),
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- )
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+ return R.transpose()
{jaxsim-0.6.1.dev9.dist-info → jaxsim-0.6.1.dev13.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.2
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  Name: jaxsim
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- Version: 0.6.1.dev9
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+ Version: 0.6.1.dev13
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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-0.6.1.dev9.dist-info → jaxsim-0.6.1.dev13.dist-info}/RECORD RENAMED
@@ -1,5 +1,5 @@
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  jaxsim/__init__.py,sha256=_8rbKOf3bwx-2ChEbspZxs_rZY0RqUcmWAftnEw1bfM,3401
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- jaxsim/_version.py,sha256=HMhgDPZsPlkarHXpzLXvw7Ad4zZYIiKhkzF5mkR2giY,424
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+ jaxsim/_version.py,sha256=MxTrYtIcbbcOGOKr3Os9IExDDxZRjlxbuH_Fjh9OtBM,426
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  jaxsim/exceptions.py,sha256=qjfTjE9lXvD3-JCPQcxxiX2XSS8QegawzQ6ZuC2tc0Y,2638
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  jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
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  jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -26,7 +26,7 @@ jaxsim/math/cross.py,sha256=AM4HauuuT09q2TN42qvdXhJ9LvtCh0e7ZyLjP-7sANs,1498
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  jaxsim/math/inertia.py,sha256=T-iAjPYSD_72R0ZG8GDJhe5i3Jc3ojhlbBRSscTdCKg,1577
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  jaxsim/math/joint_model.py,sha256=EzAveaG5B6ZnCFNUzN30KEQUVesd83lfWXJarYR-kUw,9989
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  jaxsim/math/quaternion.py,sha256=MSaZywzJDxs2te1ZELeIcupKSFIA9q_pdXy7fDAEqM4,4539
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- jaxsim/math/rotation.py,sha256=queq8jn69fV2LHrGhTwx1NPUOe8MDvNqeoOu82bsfL4,2163
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+ jaxsim/math/rotation.py,sha256=TEUtT3X2tFieNxdlccup1pfaTgCTtfX-hTNotd8-nNk,1892
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  jaxsim/math/skew.py,sha256=z_9YN-NDHL3n4KXWNbzTSMkFDZ0SDpz4RUcwwYFOaao,1402
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  jaxsim/math/transform.py,sha256=We0ChLajSckxGINiJsP1a5Ur3yjg3JuweQ3kK4Woix4,3332
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  jaxsim/math/utils.py,sha256=2id1F6QOvkHkIF3Nuxuj_tz_kI0IYlrlgVQrETmXFfI,1058
@@ -67,8 +67,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
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  jaxsim/utils/jaxsim_dataclass.py,sha256=Fxa555u14VUsVlKU1rBQFurrVzBp7BNsIaVoNko0lrI,11261
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  jaxsim/utils/tracing.py,sha256=Btwxdfhb7fJLk3r5PlQkGYj60Y2KbFT1gANGIA697FU,530
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  jaxsim/utils/wrappers.py,sha256=3IMwydqFgmSPqeuUQ3PRmdhDc1IoT6XC23jPC_LjWXs,4175
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- jaxsim-0.6.1.dev9.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.6.1.dev9.dist-info/METADATA,sha256=u0-k5wSBQ6_XTv32yPcVHXv_WhkS4V4O1Kc9QRo4m10,20199
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- jaxsim-0.6.1.dev9.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
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- jaxsim-0.6.1.dev9.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.6.1.dev9.dist-info/RECORD,,
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+ jaxsim-0.6.1.dev13.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.6.1.dev13.dist-info/METADATA,sha256=S0N8hfClCVjmfK5qplWs0fXz9_wcVdoCjWJJMcJmv-0,20200
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+ jaxsim-0.6.1.dev13.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
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+ jaxsim-0.6.1.dev13.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.6.1.dev13.dist-info/RECORD,,