jaxsim 0.6.2.dev235__py3-none-any.whl → 0.6.2.dev238__py3-none-any.whl

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Files changed (7) hide show
  1. jaxsim/_version.py +2 -2
  2. jaxsim/rbda/contacts/relaxed_rigid.py +10 -2
  3. {jaxsim-0.6.2.dev235.dist-info → jaxsim-0.6.2.dev238.dist-info}/METADATA +1 -1
  4. {jaxsim-0.6.2.dev235.dist-info → jaxsim-0.6.2.dev238.dist-info}/RECORD +7 -7
  5. {jaxsim-0.6.2.dev235.dist-info → jaxsim-0.6.2.dev238.dist-info}/WHEEL +0 -0
  6. {jaxsim-0.6.2.dev235.dist-info → jaxsim-0.6.2.dev238.dist-info}/licenses/LICENSE +0 -0
  7. {jaxsim-0.6.2.dev235.dist-info → jaxsim-0.6.2.dev238.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.dev235'
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- __version_tuple__ = version_tuple = (0, 6, 2, 'dev235')
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+ __version__ = version = '0.6.2.dev238'
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+ __version_tuple__ = version_tuple = (0, 6, 2, 'dev238')
jaxsim/rbda/contacts/relaxed_rigid.py CHANGED
@@ -477,8 +477,7 @@ class RelaxedRigidContacts(common.ContactModel):
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  tol = solver_options.pop("tol")
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  maxiter = solver_options.pop("maxiter")
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- # Compute the 3D linear force in C[W] frame.
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- solution, _ = run_optimization(
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+ solve_fn = lambda *_: run_optimization(
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  init_params=init_params,
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  fun=objective,
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  opt=optax.lbfgs(**solver_options),
@@ -486,6 +485,15 @@ class RelaxedRigidContacts(common.ContactModel):
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  maxiter=maxiter,
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  )
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+ # Compute the 3D linear force in C[W] frame.
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+ solution, _ = jax.lax.custom_linear_solve(
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+ lambda x: A @ x,
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+ -b,
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+ solve=solve_fn,
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+ symmetric=True,
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+ has_aux=True,
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+ )
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+
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  # Reshape the optimized solution to be a matrix of 3D contact forces.
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  CW_fl_C = solution.reshape(-1, 3)
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{jaxsim-0.6.2.dev235.dist-info → jaxsim-0.6.2.dev238.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: jaxsim
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- Version: 0.6.2.dev235
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+ Version: 0.6.2.dev238
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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.dev235.dist-info → jaxsim-0.6.2.dev238.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=-JwReNHNIi0ijiSumH_mMXHwD46q0M60fb0InVHcTMM,528
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+ jaxsim/_version.py,sha256=eVqBRpQ8sW7XIxtY3zbtRorKBdbdS2mv3DLVp8TmLjI,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
@@ -54,7 +54,7 @@ jaxsim/rbda/rnea.py,sha256=lMU7xxdPqGGzk0QwteB-IYjL4auHOpd78C1YqAXlp9s,7588
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  jaxsim/rbda/utils.py,sha256=6JwEDQqLMsBX7CUmPYEhdPEscXmGbWVYg6xEriPOgvE,5587
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  jaxsim/rbda/contacts/__init__.py,sha256=resrBkTdOA-1YMdcdUH2RATEhAf_Ye6MQNtjG3ClMYQ,371
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  jaxsim/rbda/contacts/common.py,sha256=qVm3Ghoytg1HAeykNrYw5-4rQJ4Mv7h0Pk75ETzGXyc,9045
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- jaxsim/rbda/contacts/relaxed_rigid.py,sha256=zoMbc1edTsbUBf3hVCUoJb-xTCrtQT4RXKaILFup3KI,21152
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+ jaxsim/rbda/contacts/relaxed_rigid.py,sha256=RjeLF06Pp19qio447U9z5EdhdM6nyMh-ISQX_2-vdaE,21349
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  jaxsim/rbda/contacts/rigid.py,sha256=ctJ4_4qSHaqGxCBMTYhvWWm8D4hJ-YdDiorJuURiNWw,17601
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  jaxsim/rbda/contacts/soft.py,sha256=Ac9aWDdjAm55Mv9LLnEs3nj7hX_NvJMnicV35SbFLSY,15282
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  jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
@@ -63,8 +63,8 @@ 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.dev235.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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- jaxsim-0.6.2.dev235.dist-info/METADATA,sha256=6u2ZG47k7iUfn-f1WMAswwcUNYr4O4mSRCnCMcyJaS8,19650
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- jaxsim-0.6.2.dev235.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
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- jaxsim-0.6.2.dev235.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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- jaxsim-0.6.2.dev235.dist-info/RECORD,,
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+ jaxsim-0.6.2.dev238.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
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+ jaxsim-0.6.2.dev238.dist-info/METADATA,sha256=RqW1Edan0yEe43Bp8uljqRkFdaTqvSffYxCg1bGKEjY,19650
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+ jaxsim-0.6.2.dev238.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
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+ jaxsim-0.6.2.dev238.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
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+ jaxsim-0.6.2.dev238.dist-info/RECORD,,