jaxsim 0.6.2.dev160__py3-none-any.whl → 0.6.2.dev175__py3-none-any.whl

jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev160'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev160')
+__version__ = version = '0.6.2.dev175'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev175')

jaxsim/api/model.py

@@ -1118,6 +1118,34 @@ def forward_dynamics_crb(
     return v̇_WB, s̈
 
 
+@jax.jit
+@js.common.named_scope
+def forward_kinematics(model: JaxSimModel, data: js.data.JaxSimModelData) -> jtp.Matrix:
+    """
+    Compute the forward kinematics of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The nL x 4 x 4 array containing the stacked homogeneous transformations
+        of the links. The first axis is the link index.
+    """
+
+    W_H_LL, _ = jaxsim.rbda.forward_kinematics_model(
+        model=model,
+        base_position=data.base_position,
+        base_quaternion=data.base_quaternion,
+        joint_positions=data.joint_positions,
+        joint_velocities=data.joint_velocities,
+        base_linear_velocity_inertial=data._base_linear_velocity,
+        base_angular_velocity_inertial=data._base_angular_velocity,
+    )
+
+    return W_H_LL
+
+
 @jax.jit
 @js.common.named_scope
 def free_floating_mass_matrix(

{jaxsim-0.6.2.dev160.dist-info → jaxsim-0.6.2.dev175.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.6.2.dev160
+Version: 0.6.2.dev175
 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-0.6.2.dev160.dist-info → jaxsim-0.6.2.dev175.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=b8dYoVXqtHxHcF56iM2xgKk78lsvmGrfDlvdwaGasgs,3388
-jaxsim/_version.py,sha256=OVMgF_uCoDVKAzWdcvTcIzXU_GeAzFOyUlQxIl3z5vU,528
+jaxsim/_version.py,sha256=QsVgVte0XH8x5-i66vlkPeABon2XCOoNAKZd4P3kx_M,528
 jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -15,7 +15,7 @@ jaxsim/api/integrators.py,sha256=O2WmwW-3lZEiA2Pp0-CsyYlnoqaz0zqqNdeCZUI5O6Q,498
 jaxsim/api/joint.py,sha256=AnqlNWmBOay-gsoo0y4AbfFQ2OCJm-8T1E0IMhZeLoY,7457
 jaxsim/api/kin_dyn_parameters.py,sha256=v1ZDb-Eqn552Zb344sJYy9e5sQT--_SYGIdtNC2JVSg,29828
 jaxsim/api/link.py,sha256=bSZOYJDY9HJMgY25VzevTTsdFZTJc6yRRpslc5FhGHE,12782
-jaxsim/api/model.py,sha256=LQmsJ-ipQzZ_tYsH58zu20GRdQsOcj7AHs3FcqRwSSs,68822
+jaxsim/api/model.py,sha256=TTwUTG2UscgI_C8uwVACH0LDiQrRCMGkNDamSPZAHgA,69674
 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
@@ -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.dev160.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.6.2.dev160.dist-info/METADATA,sha256=Av-eOpAwXaNxNfoqJ-bgOvZgEF7rE3kUa2YDRvN5Fgc,19991
-jaxsim-0.6.2.dev160.dist-info/WHEEL,sha256=jB7zZ3N9hIM9adW7qlTAyycLYW9npaWKLRzaoVcLKcM,91
-jaxsim-0.6.2.dev160.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.6.2.dev160.dist-info/RECORD,,
+jaxsim-0.6.2.dev175.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.6.2.dev175.dist-info/METADATA,sha256=Y70MKgGyQv5ZUweQrc0fB6u2lXiHoxTuHljm9yIq-lM,19991
+jaxsim-0.6.2.dev175.dist-info/WHEEL,sha256=52BFRY2Up02UkjOa29eZOS2VxUrpPORXg1pkohGGUS8,91
+jaxsim-0.6.2.dev175.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.6.2.dev175.dist-info/RECORD,,

{jaxsim-0.6.2.dev160.dist-info → jaxsim-0.6.2.dev175.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.2)
+Generator: setuptools (76.0.0)
 Root-Is-Purelib: true
 Tag: py3-none-any