jaxsim 0.6.2.dev181__py3-none-any.whl → 0.6.2.dev194__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.dev181'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev181')
+__version__ = version = '0.6.2.dev194'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev194')

jaxsim/api/common.py

@@ -121,14 +121,8 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
             The 6D quantity in the other representation.
         """
 
-        W_array = array.squeeze()
-        W_H_O = transform.squeeze()
-
-        if W_array.size != 6:
-            raise ValueError(W_array.size, 6)
-
-        if W_H_O.shape != (4, 4):
-            raise ValueError(W_H_O.shape, (4, 4))
+        W_array = array
+        W_H_O = transform
 
         match other_representation:
 
@@ -139,25 +133,24 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
 
                 if not is_force:
                     O_Xv_W = Adjoint.from_transform(transform=W_H_O, inverse=True)
-                    O_array = O_Xv_W @ W_array
+                    O_array = jnp.einsum("...ij,...j->...i", O_Xv_W, W_array)
 
                 else:
-                    O_Xf_W = Adjoint.from_transform(transform=W_H_O).T
-                    O_array = O_Xf_W @ W_array
+                    O_Xf_W = Adjoint.from_transform(transform=W_H_O).swapaxes(-1, -2)
+                    O_array = jnp.einsum("...ij,...j->...i", O_Xf_W, W_array)
 
                 return O_array
 
             case VelRepr.Mixed:
-                W_p_O = W_H_O[0:3, 3]
-                W_H_OW = jnp.eye(4).at[0:3, 3].set(W_p_O)
+                W_H_OW = W_H_O.at[..., 0:3, 0:3].set(jnp.eye(3))
 
                 if not is_force:
                     OW_Xv_W = Adjoint.from_transform(transform=W_H_OW, inverse=True)
-                    OW_array = OW_Xv_W @ W_array
+                    OW_array = jnp.einsum("...ij,...j->...i", OW_Xv_W, W_array)
 
                 else:
-                    OW_Xf_W = Adjoint.from_transform(transform=W_H_OW).T
-                    OW_array = OW_Xf_W @ W_array
+                    OW_Xf_W = Adjoint.from_transform(transform=W_H_OW).swapaxes(-1, -2)
+                    OW_array = jnp.einsum("...ij,...j->...i", OW_Xf_W, W_array)
 
                 return OW_array
 
@@ -188,45 +181,40 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
             The 6D quantity in the inertial-fixed representation.
         """
 
-        W_array = array.squeeze()
-        W_H_O = transform.squeeze()
-
-        if W_array.size != 6:
-            raise ValueError(W_array.size, 6)
-
-        if W_H_O.shape != (4, 4):
-            raise ValueError(W_H_O.shape, (4, 4))
+        O_array = array
+        W_H_O = transform
 
         match other_representation:
             case VelRepr.Inertial:
-                W_array = array
-                return W_array
+                return O_array
 
             case VelRepr.Body:
-                O_array = array
 
                 if not is_force:
-                    W_Xv_O: jtp.Array = Adjoint.from_transform(W_H_O)
-                    W_array = W_Xv_O @ O_array
+                    W_Xv_O = Adjoint.from_transform(W_H_O)
+                    W_array = jnp.einsum("...ij,...j->...i", W_Xv_O, O_array)
 
                 else:
-                    W_Xf_O = Adjoint.from_transform(transform=W_H_O, inverse=True).T
-                    W_array = W_Xf_O @ O_array
+                    W_Xf_O = Adjoint.from_transform(
+                        transform=W_H_O, inverse=True
+                    ).swapaxes(-1, -2)
+                    W_array = jnp.einsum("...ij,...j->...i", W_Xf_O, O_array)
 
                 return W_array
 
             case VelRepr.Mixed:
-                BW_array = array
-                W_p_O = W_H_O[0:3, 3]
-                W_H_OW = jnp.eye(4).at[0:3, 3].set(W_p_O)
+
+                W_H_OW = W_H_O.at[..., 0:3, 0:3].set(jnp.eye(3))
 
                 if not is_force:
-                    W_Xv_BW: jtp.Array = Adjoint.from_transform(W_H_OW)
-                    W_array = W_Xv_BW @ BW_array
+                    W_Xv_BW = Adjoint.from_transform(W_H_OW)
+                    W_array = jnp.einsum("...ij,...j->...i", W_Xv_BW, O_array)
 
                 else:
-                    W_Xf_BW = Adjoint.from_transform(transform=W_H_OW, inverse=True).T
-                    W_array = W_Xf_BW @ BW_array
+                    W_Xf_BW = Adjoint.from_transform(
+                        transform=W_H_OW, inverse=True
+                    ).swapaxes(-1, -2)
+                    W_array = jnp.einsum("...ij,...j->...i", W_Xf_BW, O_array)
 
                 return W_array
 

jaxsim/api/data.py

@@ -265,14 +265,14 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
         """
 
         # Extract the base quaternion.
-        W_Q_B = self.base_quaternion.squeeze()
+        W_Q_B = self.base_quaternion
 
         # Always normalize the quaternion to avoid numerical issues.
         # If the active scheme does not integrate the quaternion on its manifold,
         # we introduce a Baumgarte stabilization to let the quaternion converge to
         # a unit quaternion. In this case, it is not guaranteed that the quaternion
         # stored in the state is a unit quaternion.
-        norm = jaxsim.math.safe_norm(W_Q_B)
+        norm = jaxsim.math.safe_norm(W_Q_B, axis=-1, keepdims=True)
         W_Q_B = W_Q_B / (norm + jnp.finfo(float).eps * (norm == 0))
         return W_Q_B
 
@@ -285,11 +285,8 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
             The base 6D velocity in the active representation.
         """
 
-        W_v_WB = jnp.hstack(
-            [
-                self._base_linear_velocity,
-                self._base_angular_velocity,
-            ]
+        W_v_WB = jnp.concatenate(
+            [self._base_linear_velocity, self._base_angular_velocity], axis=-1
         )
 
         W_H_B = self._base_transform
@@ -363,7 +360,7 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
 
         W_Q_B = jnp.array(base_quaternion, dtype=float)
 
-        norm = jaxsim.math.safe_norm(W_Q_B)
+        norm = jaxsim.math.safe_norm(W_Q_B, axis=-1)
         W_Q_B = W_Q_B / (norm + jnp.finfo(float).eps * (norm == 0))
 
         return self.replace(validate=True, base_quaternion=W_Q_B)
@@ -404,6 +401,12 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
         """
         Replace the attributes of the `JaxSimModelData` object.
         """
+
+        # Extract the batch size.
+        batch_size = (
+            self._base_transform.shape[0] if self._base_transform.ndim > 2 else 1
+        )
+
         if joint_positions is None:
             joint_positions = self.joint_positions
         if joint_velocities is None:
@@ -413,6 +416,14 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
         if base_position is None:
             base_position = self.base_position
 
+        # Normalize the quaternion to avoid numerical issues.
+        base_quaternion_norm = jaxsim.math.safe_norm(
+            base_quaternion, axis=-1, keepdims=True
+        )
+        base_quaternion = base_quaternion / jnp.where(
+            base_quaternion_norm == 0, 1.0, base_quaternion_norm
+        )
+
         joint_positions = jnp.atleast_1d(joint_positions.squeeze()).astype(float)
         joint_velocities = jnp.atleast_1d(joint_velocities.squeeze()).astype(float)
         base_quaternion = jnp.atleast_1d(base_quaternion.squeeze()).astype(float)
@@ -421,44 +432,69 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
         base_transform = jaxsim.math.Transform.from_quaternion_and_translation(
             translation=base_position, quaternion=base_quaternion
         )
-        joint_transforms = model.kin_dyn_parameters.joint_transforms(
-            joint_positions=joint_positions, base_transform=base_transform
+
+        joint_transforms = jax.vmap(model.kin_dyn_parameters.joint_transforms)(
+            joint_positions=jnp.broadcast_to(
+                joint_positions, (batch_size, model.dofs())
+            ),
+            base_transform=jnp.broadcast_to(base_transform, (batch_size, 4, 4)),
         )
 
         if base_linear_velocity is None and base_angular_velocity is None:
-            base_linear_velocity = self._base_linear_velocity
-            base_angular_velocity = self._base_angular_velocity
+            base_linear_velocity_inertial = self._base_linear_velocity
+            base_angular_velocity_inertial = self._base_angular_velocity
         else:
             if base_linear_velocity is None:
                 base_linear_velocity = self.base_velocity[:3]
             if base_angular_velocity is None:
                 base_angular_velocity = self.base_velocity[3:]
+
             base_linear_velocity = jnp.atleast_1d(base_linear_velocity.squeeze())
             base_angular_velocity = jnp.atleast_1d(base_angular_velocity.squeeze())
+
             W_v_WB = JaxSimModelData.other_representation_to_inertial(
                 array=jnp.hstack([base_linear_velocity, base_angular_velocity]),
                 other_representation=self.velocity_representation,
                 transform=base_transform,
                 is_force=False,
             ).astype(float)
-            base_linear_velocity, base_angular_velocity = W_v_WB[:3], W_v_WB[3:]
-
-        link_transforms, link_velocities = jaxsim.rbda.forward_kinematics_model(
-            model=model,
-            base_position=base_position,
-            base_quaternion=base_quaternion,
-            joint_positions=joint_positions,
-            joint_velocities=joint_velocities,
-            base_linear_velocity_inertial=base_linear_velocity,
-            base_angular_velocity_inertial=base_angular_velocity,
+
+            base_linear_velocity_inertial, base_angular_velocity_inertial = (
+                W_v_WB[..., :3],
+                W_v_WB[..., 3:],
+            )
+
+        link_transforms, link_velocities = jax.vmap(
+            jaxsim.rbda.forward_kinematics_model, in_axes=(None,)
+        )(
+            model,
+            base_position=jnp.broadcast_to(base_position, (batch_size, 3)),
+            base_quaternion=jnp.broadcast_to(base_quaternion, (batch_size, 4)),
+            joint_positions=jnp.broadcast_to(
+                joint_positions, (batch_size, model.dofs())
+            ),
+            joint_velocities=jnp.broadcast_to(
+                joint_velocities, (batch_size, model.dofs())
+            ),
+            base_linear_velocity_inertial=jnp.broadcast_to(
+                base_linear_velocity_inertial, (batch_size, 3)
+            ),
+            base_angular_velocity_inertial=jnp.broadcast_to(
+                base_angular_velocity_inertial, (batch_size, 3)
+            ),
         )
 
+        # Adjust the output shapes.
+        if batch_size == 1:
+            link_transforms = link_transforms.reshape(link_transforms.shape[1:])
+            link_velocities = link_velocities.reshape(link_velocities.shape[1:])
+
         return super().replace(
             _joint_positions=joint_positions,
             _joint_velocities=joint_velocities,
             _base_quaternion=base_quaternion,
-            _base_linear_velocity=base_linear_velocity,
-            _base_angular_velocity=base_angular_velocity,
+            _base_linear_velocity=base_linear_velocity_inertial,
+            _base_angular_velocity=base_angular_velocity_inertial,
             _base_position=base_position,
             _base_transform=base_transform,
             _joint_transforms=joint_transforms,

jaxsim/api/integrators.py

@@ -58,7 +58,7 @@ def semi_implicit_euler_integration(
         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(W_Q_B)
+        base_quaternion_norm = jaxsim.math.safe_norm(W_Q_B, axis=-1)
 
         W_Q_B = W_Q_B / jnp.where(base_quaternion_norm == 0, 1.0, base_quaternion_norm)
 
@@ -104,7 +104,7 @@ def rk4_integration(
                 joint_torques=joint_torques,
             )
 
-    base_quaternion_norm = jaxsim.math.safe_norm(data._base_quaternion)
+    base_quaternion_norm = jaxsim.math.safe_norm(data._base_quaternion, axis=-1)
     base_quaternion = data._base_quaternion / jnp.where(
         base_quaternion_norm == 0, 1.0, base_quaternion_norm
     )

jaxsim/api/model.py

@@ -124,6 +124,7 @@ class JaxSimModel(JaxsimDataclass):
         integrator: IntegratorType | None = None,
         is_urdf: bool | None = None,
         considered_joints: Sequence[str] | None = None,
+        gravity: jtp.FloatLike = jaxsim.math.STANDARD_GRAVITY,
     ) -> JaxSimModel:
         """
         Build a Model object from a model description.
@@ -148,6 +149,7 @@ class JaxSimModel(JaxsimDataclass):
                 This is usually automatically inferred.
             considered_joints:
                 The list of joints to consider. If None, all joints are considered.
+            gravity: The gravity constant. Normally passed as a positive value.
 
         Returns:
             The built Model object.
@@ -177,6 +179,7 @@ class JaxSimModel(JaxsimDataclass):
             contact_model=contact_model,
             contacts_params=contact_params,
             integrator=integrator,
+            gravity=gravity,
         )
 
         # Store the origin of the model, in case downstream logic needs it.
@@ -2066,14 +2069,12 @@ def step(
     )
 
     # Get the external forces in inertial-fixed representation.
-    W_f_L_external = jax.vmap(
-        lambda f_L, W_H_L: js.data.JaxSimModelData.other_representation_to_inertial(
-            f_L,
-            other_representation=data.velocity_representation,
-            transform=W_H_L,
-            is_force=True,
-        )
-    )(O_f_L_external, data._link_transforms)
+    W_f_L_external = js.data.JaxSimModelData.other_representation_to_inertial(
+        O_f_L_external,
+        other_representation=data.velocity_representation,
+        transform=data._link_transforms,
+        is_force=True,
+    )
 
     τ_references = jnp.atleast_1d(
         jnp.array(joint_force_references, dtype=float).squeeze()

jaxsim/api/references.py

@@ -434,24 +434,17 @@ class JaxSimModelReferences(js.common.ModelDataWithVelocityRepresentation):
         if not_tracing(forces) and not data.valid(model=model):
             raise ValueError("The provided data is not valid for the model")
 
-        # Helper function to convert a single 6D force to the inertial representation
-        # considering as body the link (i.e. L_f_L and LW_f_L).
-        def convert_using_link_frame(
-            f_L: jtp.MatrixLike, W_H_L: jtp.ArrayLike
-        ) -> jtp.Matrix:
-
-            return jax.vmap(
-                lambda f_L, W_H_L: JaxSimModelReferences.other_representation_to_inertial(
-                    array=f_L,
-                    other_representation=self.velocity_representation,
-                    transform=W_H_L,
-                    is_force=True,
-                )
-            )(f_L, W_H_L)
+        W_H_L = data._link_transforms
 
+        # Convert a single 6D force to the inertial representation
+        # considering as body the link (i.e. L_f_L and LW_f_L).
         # The f_L input is either L_f_L or LW_f_L, depending on the representation.
-        W_H_L = data._link_transforms
-        W_f_L = convert_using_link_frame(f_L=f_L, W_H_L=W_H_L[link_idxs, :, :])
+        W_f_L = JaxSimModelReferences.other_representation_to_inertial(
+            array=f_L,
+            other_representation=self.velocity_representation,
+            transform=W_H_L[link_idxs] if model.number_of_links() > 1 else W_H_L,
+            is_force=True,
+        )
 
         return replace(forces=self._link_forces.at[link_idxs, :].set(W_f0_L + W_f_L))
 

jaxsim/math/adjoint.py

@@ -55,13 +55,13 @@ class Adjoint:
             The 6x6 adjoint matrix.
         """
 
-        A_H_B = jnp.reshape(transform, (-1, 4, 4))
+        A_H_B = transform
 
         return (
             jaxlie.SE3.from_matrix(matrix=A_H_B).adjoint()
             if not inverse
             else jaxlie.SE3.from_matrix(matrix=A_H_B).inverse().adjoint()
-        ).reshape(transform.shape[:-2] + (6, 6))
+        )
 
     @staticmethod
     def from_rotation_and_translation(

jaxsim/math/transform.py

@@ -36,8 +36,8 @@ class Transform:
         W_Q_B = jnp.array(quaternion).astype(float)
         W_p_B = jnp.array(translation).astype(float)
 
-        assert W_p_B.size == 3
-        assert W_Q_B.size == 4
+        assert W_p_B.shape[-1] == 3
+        assert W_Q_B.shape[-1] == 4
 
         A_R_B = jaxlie.SO3(wxyz=W_Q_B)
         A_R_B = A_R_B if not normalize_quaternion else A_R_B.normalize()

jaxsim/math/utils.py

@@ -3,7 +3,7 @@ import jax.numpy as jnp
 import jaxsim.typing as jtp
 
 
-def safe_norm(array: jtp.ArrayLike, axis=None) -> jtp.Array:
+def safe_norm(array: jtp.ArrayLike, *, axis=None, keepdims: bool = False) -> jtp.Array:
     """
     Compute an array norm handling NaNs and making sure that
     it is safe to get the gradient.
@@ -11,6 +11,7 @@ def safe_norm(array: jtp.ArrayLike, axis=None) -> jtp.Array:
     Args:
         array: The array for which to compute the norm.
         axis: The axis for which to compute the norm.
+        keepdims: Whether to keep the dimensions of the input
 
     Returns:
         The norm of the array with handling for zero arrays to avoid NaNs.
@@ -24,7 +25,7 @@ def safe_norm(array: jtp.ArrayLike, axis=None) -> jtp.Array:
     array = jnp.where(is_zero, jnp.ones_like(array), array)
 
     # Compute the norm of the array along the specified axis.
-    norm = jnp.linalg.norm(array, axis=axis)
+    norm = jnp.linalg.norm(array, axis=axis, keepdims=keepdims)
 
     # Use `jnp.where` to set the norm to 0.0 where the input array was all zeros.
     # This usage supports potential batch processing for future scalability.

jaxsim/mujoco/visualizer.py

@@ -64,7 +64,7 @@ class MujocoVideoRecorder:
 
         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

jaxsim/rbda/contacts/relaxed_rigid.py

@@ -460,16 +460,12 @@ class RelaxedRigidContacts(common.ContactModel):
         CW_fl_C = solution.reshape(-1, 3)
 
         # Convert the contact forces from mixed to inertial-fixed representation.
-        W_f_C = jax.vmap(
-            lambda CW_fl_C, W_H_C: (
-                ModelDataWithVelocityRepresentation.other_representation_to_inertial(
-                    array=jnp.zeros(6).at[0:3].set(CW_fl_C),
-                    transform=W_H_C,
-                    other_representation=VelRepr.Mixed,
-                    is_force=True,
-                )
-            ),
-        )(CW_fl_C, W_H_C)
+        W_f_C = ModelDataWithVelocityRepresentation.other_representation_to_inertial(
+            array=jnp.zeros((W_H_C.shape[0], 6)).at[:, :3].set(CW_fl_C),
+            transform=W_H_C,
+            other_representation=VelRepr.Mixed,
+            is_force=True,
+        )
 
         return W_f_C, {}
 
@@ -703,7 +699,7 @@ class RelaxedRigidContacts(common.ContactModel):
 
         # Compute the direction of the tangential force.
         # To prevent dividing by zero, we use a switch statement.
-        norm = jaxsim.math.safe_norm(f_tangential)
+        norm = jaxsim.math.safe_norm(f_tangential, axis=-1)
         f_tangential_direction = f_tangential / (
             norm + jnp.finfo(float).eps * (norm == 0)
         )

jaxsim/terrain/terrain.py

@@ -59,7 +59,7 @@ class Terrain(abc.ABC):
             [(h_xm - h_xp) / (2 * self.delta), (h_ym - h_yp) / (2 * self.delta), 1.0]
         )
 
-        return n / jaxsim.math.safe_norm(n)
+        return n / jaxsim.math.safe_norm(n, axis=-1)
 
 
 @jax_dataclasses.pytree_dataclass

{jaxsim-0.6.2.dev181.dist-info → jaxsim-0.6.2.dev194.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: jaxsim
-Version: 0.6.2.dev181
+Version: 0.6.2.dev194
 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.dev181.dist-info → jaxsim-0.6.2.dev194.dist-info}/RECORD

@@ -1,39 +1,39 @@
 jaxsim/__init__.py,sha256=b8dYoVXqtHxHcF56iM2xgKk78lsvmGrfDlvdwaGasgs,3388
-jaxsim/_version.py,sha256=oXtgbiCYGZB4BiX4MHVDheGcMf8oXUU_YIaqhrZ8bis,528
+jaxsim/_version.py,sha256=ffq4JpA_4w3xn6_9in9QL-akBpO6VIsvArid5kGn3Jg,528
 jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
 jaxsim/api/__init__.py,sha256=Yck5Cr6_6yqGKwt2KicccEiy-hzIAOFA3G0sPXWQTgg,253
 jaxsim/api/actuation_model.py,sha256=L8AzxIiEquWeG8UGGJaYr2Alt4dkkOROlbsCn9hUYik,2825
 jaxsim/api/com.py,sha256=jhWcUsJtZYEQf-hnEvVuqH1KoiakBNLnTkj3PA6Cn-Q,13748
-jaxsim/api/common.py,sha256=jd3thxFUxcyoAMV3ZDMqfk2DlBdvWMZuI25Y0Pw5Dlo,7088
+jaxsim/api/common.py,sha256=yTaRXDYkXmISBOhZ93f9TssR0p4wq7qj7B6OsvYzRME,6942
 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/data.py,sha256=LA3AQTuSzFvrO9acTW6NM1XZ2TtmuN5llDwQBE5IqJs,22134
 jaxsim/api/frame.py,sha256=4wg6GsyBQgYhSvc-ry_31JsaL66sZt3TtgwjB7NrHmk,14583
-jaxsim/api/integrators.py,sha256=O2WmwW-3lZEiA2Pp0-CsyYlnoqaz0zqqNdeCZUI5O6Q,4980
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 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=TTwUTG2UscgI_C8uwVACH0LDiQrRCMGkNDamSPZAHgA,69674
+jaxsim/api/model.py,sha256=rqCmzaCGN-uqAGaYteTfw9rnITJqFkDDiNiRdJAplN8,69771
 jaxsim/api/ode.py,sha256=rGOswAcchEdzx8ZfMDTR2F6AjkHymZgTTdvBbjPPpd4,5358
-jaxsim/api/references.py,sha256=ywNiURwZ0niYB-AzX1eoWCfdrx7TBiRyyfi_2tz-ako,20677
+jaxsim/api/references.py,sha256=-vd50y3v-jkXAsILS432etIKV6e2EUE2oOeLHuUrfuQ,20399
 jaxsim/math/__init__.py,sha256=lWMswEnITzQ69O761CiHL-r7UrxyIqsHlk4YTNxtwAY,384
-jaxsim/math/adjoint.py,sha256=mAtCwddK1ZwpVgIp4GIY8EVAW32Z67AJl_BzREf0ih8,4731
+jaxsim/math/adjoint.py,sha256=Pb0WAiAoN1ge8j_dPcdK307jmC5LzD1-DeUj9Z_NXkI,4667
 jaxsim/math/cross.py,sha256=AM4HauuuT09q2TN42qvdXhJ9LvtCh0e7ZyLjP-7sANs,1498
 jaxsim/math/inertia.py,sha256=T-iAjPYSD_72R0ZG8GDJhe5i3Jc3ojhlbBRSscTdCKg,1577
 jaxsim/math/joint_model.py,sha256=mV6F3SVHUxHcXMIw-hc4fG341R4rkK8MvRPn53HcEpg,6915
 jaxsim/math/quaternion.py,sha256=MSaZywzJDxs2te1ZELeIcupKSFIA9q_pdXy7fDAEqM4,4539
 jaxsim/math/rotation.py,sha256=TEUtT3X2tFieNxdlccup1pfaTgCTtfX-hTNotd8-nNk,1892
 jaxsim/math/skew.py,sha256=z_9YN-NDHL3n4KXWNbzTSMkFDZ0SDpz4RUcwwYFOaao,1402
-jaxsim/math/transform.py,sha256=We0ChLajSckxGINiJsP1a5Ur3yjg3JuweQ3kK4Woix4,3332
-jaxsim/math/utils.py,sha256=2id1F6QOvkHkIF3Nuxuj_tz_kI0IYlrlgVQrETmXFfI,1058
+jaxsim/math/transform.py,sha256=NOWBQgL_5hVr9aHA7j0Ta-Zq_EXAKguUAx78fVPZJE4,3342
+jaxsim/math/utils.py,sha256=IiH01iN54BtLnULC04pDfYe8Av99p3FGdYp2jJInm30,1166
 jaxsim/mujoco/__init__.py,sha256=1kAWzYOS7nP29S5FGyWPqiAnPf4yPSoaPW-WBGBjVV0,214
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
 jaxsim/mujoco/loaders.py,sha256=OCk1T11iIm3qZUibNpo_bxxLgaGSkCpLt7ae_ND0ExA,23272
 jaxsim/mujoco/model.py,sha256=bRXo1uhWDN37sP9qdejr_2vq_PXHQ7p6eyBlFff_JcE,16492
 jaxsim/mujoco/utils.py,sha256=dW3LrcM050-eVVdLuCiN3StIrTEfyk_jJyq1GiNh3fg,8396
-jaxsim/mujoco/visualizer.py,sha256=7CYxxqPZdCp9Wc77ZGe1t8Z_SIgBpoJAtYcvQMcCJvQ,7746
+jaxsim/mujoco/visualizer.py,sha256=cmI6DhFb1XC7oEtg_wl-s-U56dWHA-F7GlBD6EDYTyA,7744
 jaxsim/parsers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 jaxsim/parsers/kinematic_graph.py,sha256=YkxnykmGIXYs5fSXUX1mIi81mm7lG4HMt8LyRV-31j0,35759
 jaxsim/parsers/descriptions/__init__.py,sha256=N_hp8cGI5FyEFiuNx9a-CAGCr0F0QpYEpdMHvwB7_1g,261
@@ -55,15 +55,15 @@ jaxsim/rbda/rnea.py,sha256=lMU7xxdPqGGzk0QwteB-IYjL4auHOpd78C1YqAXlp9s,7588
 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
+jaxsim/rbda/contacts/relaxed_rigid.py,sha256=96SZytejDL4nR7-NJ95ui6Gde5v7_L1uopAXqZ2z9tk,26627
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
-jaxsim/terrain/terrain.py,sha256=TH84r2qizMmsfW7zYLViRjacCfOkqdYHsCzD1lZEY4c,6716
+jaxsim/terrain/terrain.py,sha256=so8kqVsUlPXqOKQ_UaYW6HE4XS8nTZRdFdXQyhB2tG4,6725
 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.dev181.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.6.2.dev181.dist-info/METADATA,sha256=PykYmopJcd0lcYxnJWi9U5cTRwJbB46pH8leBE-KyZg,19991
-jaxsim-0.6.2.dev181.dist-info/WHEEL,sha256=52BFRY2Up02UkjOa29eZOS2VxUrpPORXg1pkohGGUS8,91
-jaxsim-0.6.2.dev181.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.6.2.dev181.dist-info/RECORD,,
+jaxsim-0.6.2.dev194.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.6.2.dev194.dist-info/METADATA,sha256=fu2E38Wz5QqAZwEuZ3_FKromc9d2fFyc9LYc2P_Xz-4,19991
+jaxsim-0.6.2.dev194.dist-info/WHEEL,sha256=beeZ86-EfXScwlR_HKu4SllMC9wUEj_8Z_4FJ3egI2w,91
+jaxsim-0.6.2.dev194.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.6.2.dev194.dist-info/RECORD,,

{jaxsim-0.6.2.dev181.dist-info → jaxsim-0.6.2.dev194.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (76.0.0)
+Generator: setuptools (76.1.0)
 Root-Is-Purelib: true
 Tag: py3-none-any