jaxsim 0.6.2.dev179__py3-none-any.whl → 0.6.2.dev182__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/api/model.py +3 -0
  3. {jaxsim-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.dist-info}/METADATA +1 -1
  4. {jaxsim-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.dist-info}/RECORD +7 -7
  5. {jaxsim-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.dist-info}/WHEEL +1 -1
  6. {jaxsim-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.dist-info}/LICENSE +0 -0
  7. {jaxsim-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.dist-info}/top_level.txt +0 -0
jaxsim/_version.py CHANGED
@@ -17,5 +17,5 @@ __version__: str
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  __version_tuple__: VERSION_TUPLE
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  version_tuple: VERSION_TUPLE
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- __version__ = version = '0.6.2.dev179'
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- __version_tuple__ = version_tuple = (0, 6, 2, 'dev179')
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+ __version__ = version = '0.6.2.dev182'
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+ __version_tuple__ = version_tuple = (0, 6, 2, 'dev182')
jaxsim/api/model.py CHANGED
@@ -124,6 +124,7 @@ class JaxSimModel(JaxsimDataclass):
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  integrator: IntegratorType | None = None,
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  is_urdf: bool | None = None,
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  considered_joints: Sequence[str] | None = None,
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+ gravity: jtp.FloatLike = jaxsim.math.STANDARD_GRAVITY,
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  ) -> JaxSimModel:
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  """
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  Build a Model object from a model description.
@@ -148,6 +149,7 @@ class JaxSimModel(JaxsimDataclass):
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  This is usually automatically inferred.
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  considered_joints:
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  The list of joints to consider. If None, all joints are considered.
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+ gravity: The gravity constant. Normally passed as a positive value.
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  Returns:
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  The built Model object.
@@ -177,6 +179,7 @@ class JaxSimModel(JaxsimDataclass):
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  contact_model=contact_model,
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  contacts_params=contact_params,
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  integrator=integrator,
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+ gravity=gravity,
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  )
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  # Store the origin of the model, in case downstream logic needs it.
{jaxsim-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.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: 0.6.2.dev179
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+ Version: 0.6.2.dev182
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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-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.dist-info}/RECORD RENAMED
@@ -1,5 +1,5 @@
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  jaxsim/__init__.py,sha256=b8dYoVXqtHxHcF56iM2xgKk78lsvmGrfDlvdwaGasgs,3388
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- jaxsim/_version.py,sha256=m31qqnbeUsvEteYovdMoEfY4vd3KT-Q1zrSX09lFMa8,528
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+ jaxsim/_version.py,sha256=9vVqCpGd377pxkCsNsYmE64xHn05XG7hf09NdgSZsOA,528
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  jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
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  jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
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  jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -15,7 +15,7 @@ jaxsim/api/integrators.py,sha256=O2WmwW-3lZEiA2Pp0-CsyYlnoqaz0zqqNdeCZUI5O6Q,498
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  jaxsim/api/joint.py,sha256=AnqlNWmBOay-gsoo0y4AbfFQ2OCJm-8T1E0IMhZeLoY,7457
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  jaxsim/api/kin_dyn_parameters.py,sha256=v1ZDb-Eqn552Zb344sJYy9e5sQT--_SYGIdtNC2JVSg,29828
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  jaxsim/api/link.py,sha256=bSZOYJDY9HJMgY25VzevTTsdFZTJc6yRRpslc5FhGHE,12782
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- jaxsim/api/model.py,sha256=TTwUTG2UscgI_C8uwVACH0LDiQrRCMGkNDamSPZAHgA,69674
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+ jaxsim/api/model.py,sha256=czjv_OcjIYjCzN-LHv2qSSrAkPSPcsLCEe_kD6XZnuA,69846
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  jaxsim/api/ode.py,sha256=rGOswAcchEdzx8ZfMDTR2F6AjkHymZgTTdvBbjPPpd4,5358
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  jaxsim/api/references.py,sha256=ywNiURwZ0niYB-AzX1eoWCfdrx7TBiRyyfi_2tz-ako,20677
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  jaxsim/math/__init__.py,sha256=lWMswEnITzQ69O761CiHL-r7UrxyIqsHlk4YTNxtwAY,384
@@ -62,8 +62,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
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  jaxsim/utils/jaxsim_dataclass.py,sha256=XzmZeIibcaOzaxpprsGSxH3UrM66PAO456rFV91sNXg,11453
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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-0.6.2.dev179.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.6.2.dev179.dist-info/METADATA,sha256=wWpZxWzMaKHjFxqFGX-p8A6YRPGm3Nmqwr2BbF-ygDY,19991
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- jaxsim-0.6.2.dev179.dist-info/WHEEL,sha256=52BFRY2Up02UkjOa29eZOS2VxUrpPORXg1pkohGGUS8,91
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- jaxsim-0.6.2.dev179.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.6.2.dev179.dist-info/RECORD,,
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+ jaxsim-0.6.2.dev182.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.6.2.dev182.dist-info/METADATA,sha256=jAiUH_e3tQd-cYMXURWWZFlvlLw-m2lCYOiYk1zNLlg,19991
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+ jaxsim-0.6.2.dev182.dist-info/WHEEL,sha256=beeZ86-EfXScwlR_HKu4SllMC9wUEj_8Z_4FJ3egI2w,91
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+ jaxsim-0.6.2.dev182.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.6.2.dev182.dist-info/RECORD,,
{jaxsim-0.6.2.dev179.dist-info → jaxsim-0.6.2.dev182.dist-info}/WHEEL RENAMED
@@ -1,5 +1,5 @@
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  Wheel-Version: 1.0
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- Generator: setuptools (76.0.0)
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+ Generator: setuptools (76.1.0)
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  Root-Is-Purelib: true
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  Tag: py3-none-any
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