jaxsim 0.6.2.dev107__py3-none-any.whl → 0.6.2.dev156__py3-none-any.whl

jaxsim/_version.py

@@ -1,8 +1,13 @@
-# file generated by setuptools_scm
+# file generated by setuptools-scm
 # don't change, don't track in version control
+
+__all__ = ["__version__", "__version_tuple__", "version", "version_tuple"]
+
 TYPE_CHECKING = False
 if TYPE_CHECKING:
-    from typing import Tuple, Union
+    from typing import Tuple
+    from typing import Union
+
     VERSION_TUPLE = Tuple[Union[int, str], ...]
 else:
     VERSION_TUPLE = object
@@ -12,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev107'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev107')
+__version__ = version = '0.6.2.dev156'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev156')

jaxsim/api/integrators.py

@@ -1,76 +1,157 @@
 import dataclasses
+from collections.abc import Callable
 
+import jax
 import jax.numpy as jnp
 
 import jaxsim
 import jaxsim.api as js
 import jaxsim.typing as jtp
 from jaxsim.api.data import JaxSimModelData
-from jaxsim.math import Adjoint, Transform
+from jaxsim.math import Skew
 
 
 def semi_implicit_euler_integration(
     model: js.model.JaxSimModel,
     data: js.data.JaxSimModelData,
-    base_acceleration_inertial: jtp.Vector,
-    joint_accelerations: jtp.Vector,
+    link_forces: jtp.Vector,
+    joint_torques: jtp.Vector,
 ) -> JaxSimModelData:
     """Integrate the system state using the semi-implicit Euler method."""
-    # Step the dynamics forward.
+
     with data.switch_velocity_representation(jaxsim.VelRepr.Inertial):
 
-        dt = model.time_step
-        W_v̇_WB = base_acceleration_inertial
-        s̈ = joint_accelerations
+        # Compute the system acceleration
+        W_v̇_WB, s̈ = js.ode.system_acceleration(
+            model=model,
+            data=data,
+            link_forces=link_forces,
+            joint_torques=joint_torques,
+        )
 
-        B_H_W = Transform.inverse(data._base_transform).at[:3, :3].set(jnp.eye(3))
-        BW_X_W = Adjoint.from_transform(B_H_W)
+        dt = model.time_step
 
+        # Compute the new generalized velocity.
         new_generalized_acceleration = jnp.hstack([W_v̇_WB, s̈])
-
         new_generalized_velocity = (
             data.generalized_velocity + dt * new_generalized_acceleration
         )
 
-        new_base_velocity_inertial = new_generalized_velocity[0:6]
-        new_joint_velocities = new_generalized_velocity[6:]
+        # Extract the new base and joint velocities.
+        W_v_B = new_generalized_velocity[0:6]
+        ṡ = new_generalized_velocity[6:]
 
-        base_lin_velocity_inertial = new_base_velocity_inertial[0:3]
+        # Compute the new base position and orientation.
+        W_ω_WB = new_generalized_velocity[3:6]
 
-        new_base_velocity_mixed = BW_X_W @ new_generalized_velocity[0:6]
-        base_lin_velocity_mixed = new_base_velocity_mixed[0:3]
-        base_ang_velocity_mixed = new_base_velocity_mixed[3:6]
+        # To obtain the derivative of the base position, we need to subtract
+        # the skew-symmetric matrix of the base angular velocity times the base position.
+        # See: S. Traversaro and A. Saccon, “Multibody Dynamics Notation (Version 2), pg.9
+        W_ṗ_B = new_generalized_velocity[0:3] + Skew.wedge(W_ω_WB) @ data.base_position
 
-        base_quaternion_derivative = jaxsim.math.Quaternion.derivative(
+        W_Q̇_B = jaxsim.math.Quaternion.derivative(
             quaternion=data.base_orientation,
-            omega=base_ang_velocity_mixed,
+            omega=W_ω_WB,
             omega_in_body_fixed=False,
         ).squeeze()
 
-        new_base_position = data.base_position + dt * base_lin_velocity_mixed
-        new_base_quaternion = data.base_orientation + dt * base_quaternion_derivative
+        W_p_B = data.base_position + dt * W_ṗ_B
+        W_Q_B = data.base_orientation + dt * W_Q̇_B
 
-        base_quaternion_norm = jaxsim.math.safe_norm(new_base_quaternion)
+        base_quaternion_norm = jaxsim.math.safe_norm(W_Q_B)
 
-        new_base_quaternion = new_base_quaternion / jnp.where(
-            base_quaternion_norm == 0, 1.0, base_quaternion_norm
-        )
+        W_Q_B = W_Q_B / jnp.where(base_quaternion_norm == 0, 1.0, base_quaternion_norm)
 
-        new_joint_position = data.joint_positions + dt * new_joint_velocities
+        s = data.joint_positions + dt * ṡ
 
     # TODO: Avoid double replace, e.g. by computing cached value here
     data = dataclasses.replace(
         data,
-        _base_quaternion=new_base_quaternion,
-        _base_position=new_base_position,
-        _joint_positions=new_joint_position,
-        _joint_velocities=new_joint_velocities,
-        _base_linear_velocity=base_lin_velocity_inertial,
-        # Here we use the base angular velocity in mixed representation since
-        # it's equivalent to the one in inertial representation
-        # See: S. Traversaro and A. Saccon, “Multibody Dynamics Notation (Version 2), pg.9
-        _base_angular_velocity=base_ang_velocity_mixed,
+        _base_quaternion=W_Q_B,
+        _base_position=W_p_B,
+        _joint_positions=s,
+        _joint_velocities=ṡ,
+        _base_linear_velocity=W_v_B[0:3],
+        _base_angular_velocity=W_ω_WB,
     )
-    data = data.replace(model=model)  # update cache
+
+    # Update the cached computations.
+    data = data.replace(model=model)
 
     return data
+
+
+def rk4_integration(
+    model: js.model.JaxSimModel,
+    data: JaxSimModelData,
+    link_forces: jtp.Vector,
+    joint_torques: jtp.Vector,
+) -> JaxSimModelData:
+    """Integrate the system state using the Runge-Kutta 4 method."""
+
+    dt = model.time_step
+
+    def f(x) -> dict[str, jtp.Matrix]:
+
+        with data.switch_velocity_representation(jaxsim.VelRepr.Inertial):
+
+            data_ti = data.replace(model=model, **x)
+
+            return js.ode.system_dynamics(
+                model=model,
+                data=data_ti,
+                link_forces=link_forces,
+                joint_torques=joint_torques,
+            )
+
+    base_quaternion_norm = jaxsim.math.safe_norm(data._base_quaternion)
+    base_quaternion = data._base_quaternion / jnp.where(
+        base_quaternion_norm == 0, 1.0, base_quaternion_norm
+    )
+
+    x_t0 = dict(
+        base_position=data._base_position,
+        base_quaternion=base_quaternion,
+        joint_positions=data._joint_positions,
+        base_linear_velocity=data._base_linear_velocity,
+        base_angular_velocity=data._base_angular_velocity,
+        joint_velocities=data._joint_velocities,
+    )
+
+    euler_mid = lambda x, dxdt: x + (0.5 * dt) * dxdt
+    euler_fin = lambda x, dxdt: x + dt * dxdt
+
+    k1 = f(x_t0)
+    k2 = f(jax.tree.map(euler_mid, x_t0, k1))
+    k3 = f(jax.tree.map(euler_mid, x_t0, k2))
+    k4 = f(jax.tree.map(euler_fin, x_t0, k3))
+
+    # Average the slopes and compute the RK4 state derivative.
+    average = lambda k1, k2, k3, k4: (k1 + 2 * k2 + 2 * k3 + k4) / 6
+
+    dxdt = jax.tree_util.tree_map(average, k1, k2, k3, k4)
+
+    # Integrate the dynamics
+    x_tf = jax.tree_util.tree_map(euler_fin, x_t0, dxdt)
+
+    data_tf = dataclasses.replace(
+        data,
+        **{
+            "_base_position": x_tf["base_position"],
+            "_base_quaternion": x_tf["base_quaternion"],
+            "_joint_positions": x_tf["joint_positions"],
+            "_base_linear_velocity": x_tf["base_linear_velocity"],
+            "_base_angular_velocity": x_tf["base_angular_velocity"],
+            "_joint_velocities": x_tf["joint_velocities"],
+        },
+    )
+
+    return data_tf.replace(model=model)
+
+
+_INTEGRATORS_MAP: dict[
+    js.model.IntegratorType, Callable[..., js.data.JaxSimModelData]
+] = {
+    js.model.IntegratorType.SemiImplicitEuler: semi_implicit_euler_integration,
+    js.model.IntegratorType.RungeKutta4: rk4_integration,
+}

jaxsim/api/kin_dyn_parameters.py

@@ -177,9 +177,9 @@ class KinDynParameters(JaxsimDataclass):
         # Build the parent array λ(i) of the model.
         # Note: the parent of the base link is not set since it's not defined.
         parent_array_dict = {
-            link.index: link.parent.index
+            link.index: model_description.links_dict[link.parent_name].index
             for link in ordered_links
-            if link.parent is not None
+            if link.parent_name is not None
         }
         parent_array = jnp.array([-1, *list(parent_array_dict.values())], dtype=int)
 
@@ -862,7 +862,7 @@ class FrameParameters(JaxsimDataclass):
 
         # For each frame, extract the index of the link to which it is attached to.
         parent_link_index_of_frames = tuple(
-            model_description.links_dict[frame.parent.name].index
+            model_description.links_dict[frame.parent_name].index
             for frame in model_description.frames
         )
 

jaxsim/api/model.py

@@ -2,6 +2,7 @@ from __future__ import annotations
 
 import copy
 import dataclasses
+import enum
 import functools
 import pathlib
 from collections.abc import Sequence
@@ -23,14 +24,19 @@ from jaxsim.utils import JaxsimDataclass, Mutability, wrappers
 from .common import VelRepr
 
 
+class IntegratorType(enum.IntEnum):
+    """The integrators available for the simulation."""
+
+    SemiImplicitEuler = enum.auto()
+    RungeKutta4 = enum.auto()
+
+
 @jax_dataclasses.pytree_dataclass(eq=False, unsafe_hash=False)
 class JaxSimModel(JaxsimDataclass):
     """
     The JaxSim model defining the kinematics and dynamics of a robot.
     """
 
-    # link_spatial_inertial_matrices, motion_subspaces
-
     model_name: Static[str]
 
     time_step: float = dataclasses.field(
@@ -55,6 +61,10 @@ class JaxSimModel(JaxsimDataclass):
         dataclasses.field(default=None, repr=False)
     )
 
+    integrator: Static[IntegratorType] = dataclasses.field(
+        default=IntegratorType.SemiImplicitEuler, repr=False
+    )
+
     built_from: Static[str | pathlib.Path | rod.Model | None] = dataclasses.field(
         default=None, repr=False
     )
@@ -111,6 +121,7 @@ class JaxSimModel(JaxsimDataclass):
         terrain: jaxsim.terrain.Terrain | None = None,
         contact_model: jaxsim.rbda.contacts.ContactModel | None = None,
         contact_params: jaxsim.rbda.contacts.ContactsParams | None = None,
+        integrator: IntegratorType | None = None,
         is_urdf: bool | None = None,
         considered_joints: Sequence[str] | None = None,
     ) -> JaxSimModel:
@@ -131,6 +142,7 @@ class JaxSimModel(JaxsimDataclass):
                 The contact model to consider.
                 If not specified, a soft contacts model is used.
             contact_params: The parameters of the contact model.
+            integrator: The integrator to use for the simulation.
             is_urdf:
                 The optional flag to force the model description to be parsed as a URDF.
                 This is usually automatically inferred.
@@ -164,6 +176,7 @@ class JaxSimModel(JaxsimDataclass):
             terrain=terrain,
             contact_model=contact_model,
             contacts_params=contact_params,
+            integrator=integrator,
         )
 
         # Store the origin of the model, in case downstream logic needs it.
@@ -182,6 +195,7 @@ class JaxSimModel(JaxsimDataclass):
         terrain: jaxsim.terrain.Terrain | None = None,
         contact_model: jaxsim.rbda.contacts.ContactModel | None = None,
         contacts_params: jaxsim.rbda.contacts.ContactsParams | None = None,
+        integrator: IntegratorType | None = None,
         gravity: jtp.FloatLike = jaxsim.math.STANDARD_GRAVITY,
     ) -> JaxSimModel:
         """
@@ -202,6 +216,7 @@ class JaxSimModel(JaxsimDataclass):
                 The contact model to consider.
                 If not specified, a soft contacts model is used.
             contacts_params: The parameters of the soft contacts.
+            integrator: The integrator to use for the simulation.
             gravity: The gravity constant.
 
         Returns:
@@ -237,6 +252,13 @@ class JaxSimModel(JaxsimDataclass):
         if contacts_params is None:
             contacts_params = contact_model._parameters_class()
 
+        # Consider the default integrator if not specified.
+        integrator = (
+            integrator
+            if integrator is not None
+            else JaxSimModel.__dataclass_fields__["integrator"].default
+        )
+
         # Build the model.
         model = cls(
             model_name=model_name,
@@ -247,6 +269,7 @@ class JaxSimModel(JaxsimDataclass):
             terrain=terrain,
             contact_model=contact_model,
             contacts_params=contacts_params,
+            integrator=integrator,
             gravity=gravity,
             # The following is wrapped as hashless since it's a static argument, and we
             # don't want to trigger recompilation if it changes. All relevant parameters
@@ -447,6 +470,9 @@ def reduce(
         time_step=model.time_step,
         terrain=model.terrain,
         contact_model=model.contact_model,
+        contacts_params=model.contacts_params,
+        gravity=model.gravity,
+        integrator=model.integrator,
     )
 
     # Store the origin of the model, in case downstream logic needs it.
@@ -1420,14 +1446,10 @@ def free_floating_gravity_forces(
         The free-floating gravity forces of the model.
     """
 
-    # Build a zeroed state.
-    data_rnea = js.data.JaxSimModelData.zero(
-        model=model, velocity_representation=data.velocity_representation
-    )
-
-    # Set just the generalized position.
-    data_rnea = data_rnea.replace(
+    # Build a new state with zeroed velocities.
+    data_rnea = js.data.JaxSimModelData.build(
         model=model,
+        velocity_representation=data.velocity_representation,
         base_position=data.base_position,
         base_quaternion=data.base_quaternion,
         joint_positions=data.joint_positions,
@@ -1462,19 +1484,16 @@ def free_floating_bias_forces(
         The free-floating bias forces of the model.
     """
 
-    # Build a zeroed state.
-    data_rnea = js.data.JaxSimModelData.zero(
-        model=model, velocity_representation=data.velocity_representation
-    )
-
     # Set the generalized position and generalized velocity.
     base_linear_velocity, base_angular_velocity = None, None
     if model.floating_base():
         base_velocity = data.base_velocity
         base_linear_velocity = base_velocity[:3]
         base_angular_velocity = base_velocity[3:]
-    data_rnea = data_rnea.replace(
+
+    data_rnea = js.data.JaxSimModelData.build(
         model=model,
+        velocity_representation=data.velocity_representation,
         base_position=data.base_position,
         base_quaternion=data.base_quaternion,
         joint_positions=data.joint_positions,
@@ -2065,27 +2084,16 @@ def step(
 
     W_f_L_total = W_f_L_external + W_f_L_terrain
 
-    # ===============================
-    # Compute the system acceleration
-    # ===============================
-
-    with data.switch_velocity_representation(jaxsim.VelRepr.Inertial):
-        W_v̇_WB, s̈ = js.ode.system_acceleration(
-            model=model,
-            data=data,
-            link_forces=W_f_L_total,
-            joint_torques=τ_total,
-        )
-
     # =============================
     # Advance the simulation state
     # =============================
 
-    data_tf = js.integrators.semi_implicit_euler_integration(
-        model=model,
-        data=data,
-        base_acceleration_inertial=W_v̇_WB,
-        joint_accelerations=s̈,
+    from .integrators import _INTEGRATORS_MAP
+
+    integrator_fn = _INTEGRATORS_MAP[model.integrator]
+
+    data_tf = integrator_fn(
+        model=model, data=data, link_forces=W_f_L_total, joint_torques=τ_total
     )
 
     return data_tf

jaxsim/api/ode.py

@@ -3,7 +3,6 @@ import jax.numpy as jnp
 
 import jaxsim.api as js
 import jaxsim.typing as jtp
-from jaxsim.api.data import JaxSimModelData
 from jaxsim.math import Quaternion, Skew
 
 from .common import VelRepr
@@ -123,7 +122,7 @@ def system_dynamics(
     link_forces: jtp.Vector | None = None,
     joint_torques: jtp.Vector | None = None,
     baumgarte_quaternion_regularization: jtp.FloatLike = 1.0,
-) -> JaxSimModelData:
+) -> dict[str, jtp.Vector]:
     """
     Compute the dynamics of the system.
 
@@ -139,9 +138,9 @@ def system_dynamics(
             quaternion (only used in integrators not operating on the SO(3) manifold).
 
     Returns:
-        A tuple with an `JaxSimModelData` object storing in each of its attributes the
-        corresponding derivative, and the dictionary of auxiliary data returned
-        by the system dynamics evaluation.
+        A dictionary containing the derivatives of the base position, the base quaternion,
+        the joint positions, the base linear velocity, the base angular velocity, and the
+        joint velocities.
     """
 
     with data.switch_velocity_representation(velocity_representation=VelRepr.Inertial):
@@ -158,8 +157,7 @@ def system_dynamics(
             baumgarte_quaternion_regularization=baumgarte_quaternion_regularization,
         )
 
-    ode_state_derivative = JaxSimModelData.build(
-        model=model,
+    return dict(
         base_position=W_ṗ_B,
         base_quaternion=W_Q̇_B,
         joint_positions=ṡ,
@@ -167,5 +165,3 @@ def system_dynamics(
         base_angular_velocity=W_v̇_WB[3:6],
         joint_velocities=s̈,
     )
-
-    return ode_state_derivative

jaxsim/mujoco/visualizer.py

@@ -46,7 +46,7 @@ class MujocoVideoRecorder:
 
         self.fps = fps
         self.frames: list[npt.NDArray] = []
-        self.data: mujoco.MjData | None = None
+        self.data: list[mujoco.MjData] | mujoco.MjData | None = None
         self.model: mujoco.MjModel | None = None
         self.reset(model=model, data=data)
 
@@ -56,20 +56,38 @@ class MujocoVideoRecorder:
         )
 
     def reset(
-        self, model: mj.MjModel | None = None, data: mj.MjData | None = None
+        self,
+        model: mj.MjModel | None = None,
+        data: list[mujoco.MjData] | mujoco.MjData | None = None,
     ) -> None:
         """Reset the model and data."""
 
         self.frames = []
 
-        self.data = data if data is not None else self.data
+        self.data = [data] if data is not None else self.data
+        self.data = self.data if isinstance(self.data, list) else [self.data]
+
         self.model = model if model is not None else self.model
 
     def render_frame(self, camera_name: str = "track") -> npt.NDArray:
         """Render a frame."""
 
-        mujoco.mj_forward(self.model, self.data)
-        self.renderer.update_scene(data=self.data, camera=camera_name)
+        for idx, data in enumerate(self.data):
+
+            mujoco.mj_forward(self.model, data)
+
+            if idx == 0:
+                self.renderer.update_scene(data=data, camera=camera_name)
+                continue
+
+            mujoco.mjv_addGeoms(
+                m=self.model,
+                d=data,
+                opt=mujoco.MjvOption(),
+                pert=mujoco.MjvPerturb(),
+                catmask=mujoco.mjtCatBit.mjCAT_DYNAMIC,
+                scn=self.renderer.scene,
+            )
 
         return self.renderer.render()
 

jaxsim/parsers/descriptions/link.py

@@ -31,7 +31,7 @@ class LinkDescription(JaxsimDataclass):
     mass: float = dataclasses.field(repr=False)
     inertia: jtp.Matrix = dataclasses.field(repr=False)
     index: int | None = None
-    parent: LinkDescription | None = dataclasses.field(default=None, repr=False)
+    parent_name: Static[str | None] = dataclasses.field(default=None, repr=False)
     pose: jtp.Matrix = dataclasses.field(default_factory=lambda: jnp.eye(4), repr=False)
 
     children: Static[tuple[LinkDescription]] = dataclasses.field(
@@ -50,8 +50,7 @@ class LinkDescription(JaxsimDataclass):
                 hash(int(self.index)) if self.index is not None else 0,
                 HashedNumpyArray.hash_of_array(self.pose),
                 hash(tuple(self.children)),
-                # Here only using the name to prevent circular recursion:
-                hash(self.parent.name) if self.parent is not None else 0,
+                hash(self.parent_name) if self.parent_name is not None else 0,
             )
         )
 
@@ -67,11 +66,7 @@ class LinkDescription(JaxsimDataclass):
             and self.index == other.index
             and np.allclose(self.pose, other.pose)
             and self.children == other.children
-            and (
-                (self.parent is not None and self.parent.name == other.parent.name)
-                if self.parent is not None
-                else other.parent is None
-            ),
+            and self.parent_name == other.parent_name
         ):
             return False
 

jaxsim/parsers/descriptions/model.py

@@ -119,16 +119,16 @@ class ModelDescription(KinematicGraph):
             for cp in collision_shape.collidable_points:
                 # Find the link that is part of the (reduced) model in which the
                 # collision shape's parent was lumped into
-                real_parent_link_of_shape = kinematic_graph.frames_dict[
+                real_parent_link_name = kinematic_graph.frames_dict[
                     parent_link_of_shape.name
-                ].parent
+                ].parent_name
 
                 # Change the link associated to the collidable point, updating their
                 # relative pose
                 moved_cp = cp.change_link(
-                    new_link=real_parent_link_of_shape,
+                    new_link=kinematic_graph.links_dict[real_parent_link_name],
                     new_H_old=fk.relative_transform(
-                        relative_to=real_parent_link_of_shape.name,
+                        relative_to=real_parent_link_name,
                         name=cp.parent_link.name,
                     ),
                 )

jaxsim/parsers/kinematic_graph.py

@@ -274,10 +274,10 @@ class KinematicGraph(Sequence[LinkDescription]):
 
         # Check that our parser correctly resolved the frame's parent to be a link.
         for frame in frames:
-            assert frame.parent.name != "", frame
-            assert frame.parent.name is not None, frame
-            assert frame.parent.name != "__model__", frame
-            assert frame.parent.name not in frames_dict, frame
+            assert frame.parent_name != "", frame
+            assert frame.parent_name is not None, frame
+            assert frame.parent_name != "__model__", frame
+            assert frame.parent_name not in frames_dict, frame
 
         # ===========================================================
         # Populate the kinematic graph with links, joints, and frames
@@ -302,7 +302,7 @@ class KinematicGraph(Sequence[LinkDescription]):
             assert parent_link.name == joint.parent.name
 
             # Assign link's parent.
-            child_link.parent = parent_link
+            child_link.parent_name = parent_link.name
 
             # Assign link's children and make sure they are unique.
             if child_link.name not in {l.name for l in parent_link.children}:
@@ -331,7 +331,7 @@ class KinematicGraph(Sequence[LinkDescription]):
         # Collect all the frames of the kinematic graph.
         # Note: our parser ensures that the parent of a frame is not another frame.
         all_frames_in_graph = [
-            frame for frame in frames if frame.parent.name in all_link_names_in_graph
+            frame for frame in frames if frame.parent_name in all_link_names_in_graph
         ]
 
         # Get the names of all frames in the kinematic graph.
@@ -450,7 +450,7 @@ class KinematicGraph(Sequence[LinkDescription]):
 
             # Get the link to remove and its parent, i.e. the lumped link
             link_to_remove = links_dict[link.name]
-            parent_of_link_to_remove = links_dict[link.parent.name]
+            parent_of_link_to_remove = links_dict[link.parent_name]
 
             msg = "Lumping chain: {}->({})->{}"
             logging.info(
@@ -586,7 +586,7 @@ class KinematicGraph(Sequence[LinkDescription]):
             assert name_of_new_parent_link in reduced_graph, name_of_new_parent_link
 
             # Notify the user if the parent link has changed.
-            if name_of_new_parent_link != frame.parent.name:
+            if name_of_new_parent_link != frame.parent_name:
                 msg = "New parent of frame '{}' is '{}'"
                 logging.debug(msg=msg.format(frame.name, name_of_new_parent_link))
 
@@ -601,7 +601,7 @@ class KinematicGraph(Sequence[LinkDescription]):
                 )
 
                 # Update the parent link such that the pose is expressed in its frame.
-                frame.parent = reduced_graph.links_dict[name_of_new_parent_link]
+                frame.parent_name = name_of_new_parent_link
 
                 # Update dynamic parameters of the frame.
                 frame.mass = 0.0
@@ -880,7 +880,7 @@ class KinematicGraphTransforms:
 
             # Get the joint between the link and its parent.
             parent_joint = self.graph.joints_connection_dict[
-                link.parent.name, link.name
+                link.parent_name, link.name
             ]
 
             # Get the transform of the parent joint.
@@ -901,7 +901,7 @@ class KinematicGraphTransforms:
         frame = self.graph.frames_dict[name]
 
         # Get the transform of the parent link.
-        M_H_L = self.transform(name=frame.parent.name)
+        M_H_L = self.transform(name=frame.parent_name)
 
         # Rename the pose of the frame w.r.t. its parent link.
         L_H_F = frame.pose
@@ -971,13 +971,10 @@ class KinematicGraphTransforms:
         except KeyError as e:
             raise ValueError(f"Frame '{name}' not found in the kinematic graph") from e
 
-        match frame.parent.name:
-            case parent_name if parent_name in self.graph.links_dict:
-                return parent_name
+        if frame.parent_name in self.graph.links_dict:
+            return frame.parent_name
+        elif frame.parent_name in self.graph.frames_dict:
+            return self.find_parent_link_of_frame(name=frame.parent_name)
 
-            case parent_name if parent_name in self.graph.frames_dict:
-                return self.find_parent_link_of_frame(name=parent_name)
-
-            case _:
-                msg = f"Failed to find parent element of frame '{name}' with name '{frame.parent.name}'"
-                raise RuntimeError(msg)
+        msg = f"Failed to find parent element of frame '{name}' with name '{frame.parent_name}'"
+        raise RuntimeError(msg)

jaxsim/parsers/rod/parser.py

@@ -131,7 +131,7 @@ def extract_model_data(
             name=f.name,
             mass=jnp.array(0.0, dtype=float),
             inertia=jnp.zeros(shape=(3, 3)),
-            parent=links_dict[f.attached_to],
+            parent_name=f.attached_to,
             pose=f.pose.transform() if f.pose is not None else jnp.eye(4),
         )
         for f in sdf_model.frames()

jaxsim/parsers/rod/utils.py

@@ -123,7 +123,11 @@ def create_box_collision(
     # Conditionally add the top corners based on the environment variable.
     top_corners = (
         np.array([[0, 0, z], [x, 0, z], [x, y, z], [0, y, z]])
-        if not os.environ.get("JAXSIM_COLLISION_USE_BOTTOM_ONLY", "0")
+        if os.environ.get("JAXSIM_COLLISION_USE_BOTTOM_ONLY", "0").lower()
+        in {
+            "false",
+            "0",
+        }
         else []
     )
 
@@ -184,7 +188,10 @@ def create_sphere_collision(
         ]
 
         # Filter to keep only the bottom half if required.
-        if os.environ.get("JAXSIM_COLLISION_USE_BOTTOM_ONLY", "0"):
+        if os.environ.get("JAXSIM_COLLISION_USE_BOTTOM_ONLY", "0").lower() in {
+            "true",
+            "1",
+        }:
             # Keep only the points with z <= 0.
             points = [point for point in points if point[2] <= 0]
 

jaxsim/rbda/utils.py

@@ -132,6 +132,12 @@ def process_inputs(
     if W_Q_B.shape != (4,):
         raise ValueError(W_Q_B.shape, (4,))
 
+    # Check that the quaternion does not contain NaNs.
+    exceptions.raise_value_error_if(
+        condition=jnp.isnan(W_Q_B).any(),
+        msg="A RBDA received a quaternion that contains NaNs.",
+    )
+
     # Check that the quaternion is unary since our RBDAs make this assumption in order
     # to prevent introducing additional normalizations that would affect AD.
     exceptions.raise_value_error_if(

{jaxsim-0.6.2.dev107.dist-info → jaxsim-0.6.2.dev156.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.6.2.dev107
+Version: 0.6.2.dev156
 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>
@@ -98,8 +98,8 @@ Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
 <br/>
 <table>
   <tr>
-    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c" width="500"></th>
-    <th><img src="https://github.com/user-attachments/assets/62b88b9d-45ea-4d22-99d2-f24fc842dd29" width="500"></th>
+    <th><img src="https://github.com/user-attachments/assets/f9661fae-9a85-41dd-9a58-218758ec8c9c"></th>
+    <th><img src="https://github.com/user-attachments/assets/62b88b9d-45ea-4d22-99d2-f24fc842dd29"></th>
   </tr>
 </table>
 <br/>
@@ -119,13 +119,16 @@ Requires-Dist: jaxsim[style,testing,viz]; extra == "all"
 
 
 ```python
+import pathlib
+
+import icub_models
 import jax.numpy as jnp
+
 import jaxsim.api as js
-import icub_models
-import pathlib
 
 # Load the iCub model
 model_path = icub_models.get_model_file("iCubGazeboV2_5")
+
 joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
           'l_shoulder_roll', 'l_shoulder_yaw', 'l_elbow', 'r_shoulder_pitch',
           'r_shoulder_roll', 'r_shoulder_yaw', 'r_elbow', 'l_hip_pitch',
@@ -135,33 +138,45 @@ joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
 
 # Build and reduce the model
 model_description = pathlib.Path(model_path)
+
 full_model = js.model.JaxSimModel.build_from_model_description(
     model_description=model_description, time_step=0.0001, is_urdf=True
 )
+
 model = js.model.reduce(model=full_model, considered_joints=joints)
 
+# Get the number of degrees of freedom
 ndof = model.dofs()
+
 # Initialize data and simulation
 # Note that the default data representation is mixed velocity representation
-data = js.data.JaxSimModelData.build(model=model,base_position=jnp.array([0.0, 0.0, 1.0]))
+data = js.data.JaxSimModelData.build(
+    model=model, base_position=jnp.array([0.0, 0.0, 1.0])
+)
+
 T = jnp.arange(start=0, stop=1.0, step=model.time_step)
+
 tau = jnp.zeros(ndof)
 
 # Simulate
-for t in T:
-    data = js.model.step(model=model, data=data, link_forces=None, joint_force_references=tau)
-
+for _ in T:
+    data = js.model.step(
+        model=model, data=data, link_forces=None, joint_force_references=tau
+    )
 ```
 
 ### Using JaxSim as a multibody dynamics library
 ``` python
+import pathlib
+
+import icub_models
 import jax.numpy as jnp
+
 import jaxsim.api as js
-import icub_models
-import pathlib
 
 # Load the iCub model
 model_path = icub_models.get_model_file("iCubGazeboV2_5")
+
 joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
           'l_shoulder_roll', 'l_shoulder_yaw', 'l_elbow', 'r_shoulder_pitch',
           'r_shoulder_roll', 'r_shoulder_yaw', 'r_elbow', 'l_hip_pitch',
@@ -171,21 +186,31 @@ joints = ('torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
 
 # Build and reduce the model
 model_description = pathlib.Path(model_path)
+
 full_model = js.model.JaxSimModel.build_from_model_description(
     model_description=model_description, time_step=0.0001, is_urdf=True
 )
+
 model = js.model.reduce(model=full_model, considered_joints=joints)
 
 # Initialize model data
 data = js.data.JaxSimModelData.build(
     model=model,
-    base_position=jnp.array([0.0, 0.0, 1.0],
+    base_position=jnp.array([0.0, 0.0, 1.0]),
 )
 
 # Frame and dynamics computations
 frame_index = js.frame.name_to_idx(model=model, frame_name="l_foot")
-W_H_F = js.frame.transform(model=model, data=data, frame_index=frame_index)  # Frame transformation
-W_J_F = js.frame.jacobian(model=model, data=data, frame_index=frame_index)  # Frame Jacobian
+
+# Frame transformation
+W_H_F = js.frame.transform(
+    model=model, data=data, frame_index=frame_index
+)
+
+# Frame Jacobian
+W_J_F = js.frame.jacobian(
+    model=model, data=data, frame_index=frame_index
+)
 
 # Dynamics properties
 M = js.model.free_floating_mass_matrix(model=model, data=data)  # Mass matrix
@@ -194,16 +219,15 @@ g = js.model.free_floating_gravity_forces(model=model, data=data)  # Gravity for
 C = js.model.free_floating_coriolis_matrix(model=model, data=data)  # Coriolis matrix
 
 # Print dynamics results
-print(f"M: shape={M.shape}, h: shape={h.shape}, g: shape={g.shape}, C: shape={C.shape}")
-
+print(f"{M.shape=} \n{h.shape=} \n{g.shape=} \n{C.shape=}")
 ```
+
 ### Additional features
 
 - Full support for automatic differentiation of RBDAs (forward and reverse modes) with JAX.
 - Support for automatically differentiating against kinematics and dynamics parameters.
 - All fixed-step integrators are forward and reverse differentiable.
-- All variable-step integrators are forward differentiable.
-- Check the example folder for additional usecase !
+- Check the example folder for additional use cases!
 
 [jax]: https://github.com/google/jax/
 [sdformat]: https://github.com/gazebosim/sdformat
@@ -335,23 +359,21 @@ The JaxSim API documentation is available at [jaxsim.readthedocs.io][readthedocs
 
 src/jaxsim
 |-- api..........................# Package containing the main functional APIs.
-|   |-- com.py...................# |-- APIs for computing quantities related to the center of mass.
+|   |-- actuation_model.py.......# |-- APIs for computing quantities related to the actuation model.
 |   |-- common.py................# |-- Common utilities used in the current package.
+|   |-- com.py...................# |-- APIs for computing quantities related to the center of mass.
+|   |-- contact_model.py.........# |-- APIs for computing quantities related to the contact model.
 |   |-- contact.py...............# |-- APIs for computing quantities related to the collidable points.
 |   |-- data.py..................# |-- Class storing the data of a simulated model.
 |   |-- frame.py.................# |-- APIs for computing quantities related to additional frames.
+|   |-- integrators.py...........# |-- APIs for integrating the system dynamics.
 |   |-- joint.py.................# |-- APIs for computing quantities related to the joints.
 |   |-- kin_dyn_parameters.py....# |-- Class storing kinematic and dynamic parameters of a model.
 |   |-- link.py..................# |-- APIs for computing quantities related to the links.
 |   |-- model.py.................# |-- Class defining a simulated model and APIs for computing related quantities.
 |   |-- ode.py...................# |-- APIs for computing quantities related to the system dynamics.
-|   |-- ode_data.py..............# |-- Set of classes to store the data of the system dynamics.
 |   `-- references.py............# `-- Helper class to create references (link forces and joint torques).
 |-- exceptions.py................# Module containing functions to raise exceptions from JIT-compiled functions.
-|-- integrators..................# Package containing the integrators used to simulate the system dynamics.
-|   |-- common.py................# |-- Common utilities used in the current package.
-|   |-- fixed_step.py............# |-- Fixed-step integrators (explicit Runge-Kutta schemes).
-|   `-- variable_step.py.........# `-- Variable-step integrators (embedded Runge-Kutta schemes).
 |-- logging.py...................# Module containing logging utilities.
 |-- math.........................# Package containing mathematical utilities.
 |   |-- adjoint.py...............# |-- APIs for creating and manipulating 6D transformations.
@@ -361,7 +383,8 @@ src/jaxsim
 |   |-- quaternion.py............# |-- APIs for creating and manipulating quaternions.
 |   |-- rotation.py..............# |-- APIs for creating and manipulating rotation matrices.
 |   |-- skew.py..................# |-- APIs for creating and manipulating skew-symmetric matrices.
-|   `-- transform.py.............# `-- APIs for creating and manipulating homogeneous transformations.
+|   |-- transform.py.............# |-- APIs for creating and manipulating homogeneous transformations.
+|   |-- utils.py.................# |-- Common utilities used in the current package.
 |-- mujoco.......................# Package containing utilities to interact with the Mujoco passive viewer.
 |   |-- loaders.py...............# |-- Utilities for converting JaxSim models to Mujoco models.
 |   |-- model.py.................# |-- Class providing high-level methods to compute quantities using Mujoco.

{jaxsim-0.6.2.dev107.dist-info → jaxsim-0.6.2.dev156.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=b8dYoVXqtHxHcF56iM2xgKk78lsvmGrfDlvdwaGasgs,3388
-jaxsim/_version.py,sha256=FVCMAd0Bwqs2nR6rSLUCOeYtWC88C0n0_qPzJP2NVjg,428
+jaxsim/_version.py,sha256=gPKOajFv_sU8ebr7Lpn9223MX1vvWdNsA0VawLyS46Y,528
 jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -11,12 +11,12 @@ jaxsim/api/contact.py,sha256=PpVtlb7Iw4mW0dCrGWorznzF2ai13N9SlV7DL5ecUfA,16795
 jaxsim/api/contact_model.py,sha256=gY7dRA6UIduD4OO1nRZ4VmnNXIOeDLulw5Am9gBjhUs,3334
 jaxsim/api/data.py,sha256=vfgzPBCbX9OUiCBKvyib2aevhZpH-MzU4ZNZsnhidQo,20790
 jaxsim/api/frame.py,sha256=4wg6GsyBQgYhSvc-ry_31JsaL66sZt3TtgwjB7NrHmk,14583
-jaxsim/api/integrators.py,sha256=o7Fx3xjkwYUc9OJidcaPVeCEHMO-D63Y_c2zt0Q71xY,2818
+jaxsim/api/integrators.py,sha256=O2WmwW-3lZEiA2Pp0-CsyYlnoqaz0zqqNdeCZUI5O6Q,4980
 jaxsim/api/joint.py,sha256=AnqlNWmBOay-gsoo0y4AbfFQ2OCJm-8T1E0IMhZeLoY,7457
-jaxsim/api/kin_dyn_parameters.py,sha256=XXYJSncZCfrAVcJlHBU4cOHmWf1iOh68vv5qyKF4s08,29788
+jaxsim/api/kin_dyn_parameters.py,sha256=v1ZDb-Eqn552Zb344sJYy9e5sQT--_SYGIdtNC2JVSg,29828
 jaxsim/api/link.py,sha256=bSZOYJDY9HJMgY25VzevTTsdFZTJc6yRRpslc5FhGHE,12782
-jaxsim/api/model.py,sha256=Xy6rjHnWaiQZikXc9nNChAz2Y46NpXX63QSM4erBBhg,68425
-jaxsim/api/ode.py,sha256=2Kkh1vk2eXYoMwSJhE-HfFWcEWtM1A9ZZR-b4xmH8uk,5486
+jaxsim/api/model.py,sha256=LQmsJ-ipQzZ_tYsH58zu20GRdQsOcj7AHs3FcqRwSSs,68822
+jaxsim/api/ode.py,sha256=rGOswAcchEdzx8ZfMDTR2F6AjkHymZgTTdvBbjPPpd4,5358
 jaxsim/api/references.py,sha256=ywNiURwZ0niYB-AzX1eoWCfdrx7TBiRyyfi_2tz-ako,20677
 jaxsim/math/__init__.py,sha256=lWMswEnITzQ69O761CiHL-r7UrxyIqsHlk4YTNxtwAY,384
 jaxsim/math/adjoint.py,sha256=mAtCwddK1ZwpVgIp4GIY8EVAW32Z67AJl_BzREf0ih8,4731
@@ -33,18 +33,18 @@ jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,529
 jaxsim/mujoco/loaders.py,sha256=Jjb5Us9ERmLjejM4S1FcqrF12ZVkjBMZXelu9n6HGA4,23138
 jaxsim/mujoco/model.py,sha256=bRXo1uhWDN37sP9qdejr_2vq_PXHQ7p6eyBlFff_JcE,16492
 jaxsim/mujoco/utils.py,sha256=dW3LrcM050-eVVdLuCiN3StIrTEfyk_jJyq1GiNh3fg,8396
-jaxsim/mujoco/visualizer.py,sha256=zkdu5qxZK0BGYotAHxoYQ5ZVTWSmwVZPQ3vTWGOik9E,7218
+jaxsim/mujoco/visualizer.py,sha256=7CYxxqPZdCp9Wc77ZGe1t8Z_SIgBpoJAtYcvQMcCJvQ,7746
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-jaxsim/parsers/kinematic_graph.py,sha256=QP7j_sBTrKgT-PZQ44yFNoIbf877dQvavcRvbatCFz4,35864
+jaxsim/parsers/kinematic_graph.py,sha256=YkxnykmGIXYs5fSXUX1mIi81mm7lG4HMt8LyRV-31j0,35759
 jaxsim/parsers/descriptions/__init__.py,sha256=N_hp8cGI5FyEFiuNx9a-CAGCr0F0QpYEpdMHvwB7_1g,261
 jaxsim/parsers/descriptions/collision.py,sha256=C6SekAPL2tNG62Y-lTqj1m9BblhoTZDj2F2vgspKNbI,4577
 jaxsim/parsers/descriptions/joint.py,sha256=MurLIHHmu-y_bwUcR_J1NZ-FjfRZRk166zKsn6VzIwE,4232
-jaxsim/parsers/descriptions/link.py,sha256=Eh0W5qL7_Uw0GV-BkNKXhm9Q2dRTfIWCX5D-87zQkxA,3711
-jaxsim/parsers/descriptions/model.py,sha256=G7nYy4CTppj2NM7hTXP6xGJ2h5dwT41N1fsy0EYSIBk,9860
+jaxsim/parsers/descriptions/link.py,sha256=au5XP_7O_UG7WG07RZ6y5VXkLqjgx9aBmlrPCMxgzbo,3495
+jaxsim/parsers/descriptions/model.py,sha256=LNmNed6myIhrUkSa0zp5XBt4GsDVB34tFqusNj3rdAk,9876
 jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrGU,92
 jaxsim/parsers/rod/meshes.py,sha256=yAXefG73_zqbVKRUdlcz9yFmypjDIpiP9cO96PeAozE,2842
-jaxsim/parsers/rod/parser.py,sha256=2AxRimQeYHHrdWLJrzXxPX9TUMOhuv10lqptfvG6wMQ,14405
-jaxsim/parsers/rod/utils.py,sha256=Wb1TsZ2v0VgmswYqI5hHRtGQx4ttWK8luWO9cvllTEk,8117
+jaxsim/parsers/rod/parser.py,sha256=vaOlvlvgQCEGbymFc21praHKEVq_LqqlKeRJNv7tZiE,14398
+jaxsim/parsers/rod/utils.py,sha256=wmD-wCF1lLO8pknX7A3a8CGt9wDlTS_xCqQulcZ_XlM,8242
 jaxsim/rbda/__init__.py,sha256=kmy4G9aMkrqPNGdLSaSV3k15dpF52vBEUQXDFDuKIxU,337
 jaxsim/rbda/aba.py,sha256=QiajR4Uv06u-BX5V2kWpmFmP_kIfTxxcycdJhIbid9A,9029
 jaxsim/rbda/collidable_points.py,sha256=XyeV1I43GL22j03rkNVocaIPOGYirt3PiDHrFMndziQ,2070
@@ -52,7 +52,7 @@ jaxsim/rbda/crba.py,sha256=DC9kBXMG1qXaoAdo8K7OCnVHT_YUaL_t6Li56sRf8ro,5093
 jaxsim/rbda/forward_kinematics.py,sha256=zoyXEZnL-hyJr3c9Jl0EfCleJtVvVsekHgUTLn5EiQ4,4640
 jaxsim/rbda/jacobian.py,sha256=EaMvf073UnLWJGXm4UZIlYd4erulFAGgj_pp89k6xic,11113
 jaxsim/rbda/rnea.py,sha256=lMU7xxdPqGGzk0QwteB-IYjL4auHOpd78C1YqAXlp9s,7588
-jaxsim/rbda/utils.py,sha256=3Q1yZn6J7j8D5HP_3yQCzkcNLf0VID6NcETGu6YvWwM,5370
+jaxsim/rbda/utils.py,sha256=LDm00VhNjH2STo5y48PAtO4TC75Bybi60-Viuq3Cyss,5575
 jaxsim/rbda/contacts/__init__.py,sha256=eZKSoGpWH6IQIofhXzU-q9J00PkKTovPVnxubmzoK0E,202
 jaxsim/rbda/contacts/common.py,sha256=QSvEykjN5MuRD7Vk-rM454qBYdkwH7xZAVOBeulKAUc,5042
 jaxsim/rbda/contacts/relaxed_rigid.py,sha256=BTHOr0An_6K3UIkGYakaF05gkTsKHDSinDzirlvSY8o,26742
@@ -62,8 +62,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=XzmZeIibcaOzaxpprsGSxH3UrM66PAO456rFV91sNXg,11453
 jaxsim/utils/tracing.py,sha256=Btwxdfhb7fJLk3r5PlQkGYj60Y2KbFT1gANGIA697FU,530
 jaxsim/utils/wrappers.py,sha256=3IMwydqFgmSPqeuUQ3PRmdhDc1IoT6XC23jPC_LjWXs,4175
-jaxsim-0.6.2.dev107.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.6.2.dev107.dist-info/METADATA,sha256=4RLJW2LPlPjJMmVtx1n4k9CePYoyrjVOBB5KhyCyr1I,20132
-jaxsim-0.6.2.dev107.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-jaxsim-0.6.2.dev107.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.6.2.dev107.dist-info/RECORD,,
+jaxsim-0.6.2.dev156.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.6.2.dev156.dist-info/METADATA,sha256=Uvw7cBgt4g0VyN-Hx017SOHwtVAT5Sn6Jqvb8JFMmno,19991
+jaxsim-0.6.2.dev156.dist-info/WHEEL,sha256=nn6H5-ilmfVryoAQl3ZQ2l8SH5imPWFpm1A5FgEuFV4,91
+jaxsim-0.6.2.dev156.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.6.2.dev156.dist-info/RECORD,,

{jaxsim-0.6.2.dev107.dist-info → jaxsim-0.6.2.dev156.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.0)
+Generator: setuptools (75.8.1)
 Root-Is-Purelib: true
 Tag: py3-none-any