jaxsim 0.6.2.dev259__py3-none-any.whl → 0.6.2.dev264__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.dev259'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev259')
+__version__ = version = '0.6.2.dev264'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev264')

jaxsim/math/transform.py

@@ -92,11 +92,4 @@ class Transform:
             The 4x4 inverse transformation matrix.
         """
 
-        A_H_B = jnp.reshape(transform, (-1, 4, 4))
-
-        return (
-            jaxlie.SE3.from_matrix(matrix=A_H_B)
-            .inverse()
-            .as_matrix()
-            .reshape(transform.shape[:-2] + (4, 4))
-        )
+        return jaxlie.SE3.from_matrix(matrix=transform).inverse().as_matrix()

jaxsim/rbda/aba.py

@@ -201,7 +201,7 @@ def aba(
 
         # Propagate them to the parent, handling the base link.
         def propagate(
-            MA_pA: tuple[jtp.Matrix, jtp.Matrix]
+            MA_pA: tuple[jtp.Matrix, jtp.Matrix],
         ) -> tuple[jtp.Matrix, jtp.Matrix]:
 
             MA, pA = MA_pA

jaxsim/rbda/contacts/rigid.py

@@ -357,7 +357,7 @@ class RigidContacts(ContactModel):
         #      G x ≤ h
         #
         # TODO: add possibility to notify if the QP problem did not converge.
-        solution, _, _, _, converged, _ = qpax.solve_qp(  # noqa: F841
+        solution, _, _, _, converged, _ = qpax.solve_qp(  # noqa: RUF059
             Q=Q, q=q, A=A, b=b, G=G, h=h_bounds, **self.solver_options
         )
 

{jaxsim-0.6.2.dev259.dist-info → jaxsim-0.6.2.dev264.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev259
+Version: 0.6.2.dev264
 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.dev259.dist-info → jaxsim-0.6.2.dev264.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=b8dYoVXqtHxHcF56iM2xgKk78lsvmGrfDlvdwaGasgs,3388
-jaxsim/_version.py,sha256=1sA1P-zDJFr36_7sVys2Js5b7_L1PGjlSUIpxd4AKm4,528
+jaxsim/_version.py,sha256=oLeHDsqsLO5VnFp4ZF6v3W6PavO6GfFRTiLMYRl3wOg,528
 jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -25,7 +25,7 @@ jaxsim/math/joint_model.py,sha256=mV6F3SVHUxHcXMIw-hc4fG341R4rkK8MvRPn53HcEpg,69
 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=NOWBQgL_5hVr9aHA7j0Ta-Zq_EXAKguUAx78fVPZJE4,3342
+jaxsim/math/transform.py,sha256=d0_m_obmUOmnI8Bte0ktvibR9Hv9M9qpg8tVuLON2g0,3192
 jaxsim/math/utils.py,sha256=IiH01iN54BtLnULC04pDfYe8Av99p3FGdYp2jJInm30,1166
 jaxsim/mujoco/__init__.py,sha256=1kAWzYOS7nP29S5FGyWPqiAnPf4yPSoaPW-WBGBjVV0,214
 jaxsim/mujoco/__main__.py,sha256=GBmB7J-zj75ZnFyuAAmpSOpbxi_HhHhWJeot3ljGDJY,5291
@@ -45,7 +45,7 @@ jaxsim/parsers/rod/meshes.py,sha256=yAXefG73_zqbVKRUdlcz9yFmypjDIpiP9cO96PeAozE,
 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=ksfupKZzeJyysxrbyMyEfszUdBH6LfCfkSz3KLfODhY,328
-jaxsim/rbda/aba.py,sha256=QiajR4Uv06u-BX5V2kWpmFmP_kIfTxxcycdJhIbid9A,9029
+jaxsim/rbda/aba.py,sha256=jxvss3XL8pBaT40bWG5pHcH9f1DDl3LoRqdnpFSlCWo,9030
 jaxsim/rbda/collidable_points.py,sha256=XyeV1I43GL22j03rkNVocaIPOGYirt3PiDHrFMndziQ,2070
 jaxsim/rbda/crba.py,sha256=DC9kBXMG1qXaoAdo8K7OCnVHT_YUaL_t6Li56sRf8ro,5093
 jaxsim/rbda/forward_kinematics.py,sha256=qem7Yp-B2oNVOsU3Q2CWV2tbfZKJOCAdDozFgaPB8tg,3838
@@ -57,7 +57,7 @@ jaxsim/rbda/actuation/common.py,sha256=aGFqO4VTgQLsTJyOtVuoa_otT_RbkckmG3rq7wjOy
 jaxsim/rbda/contacts/__init__.py,sha256=resrBkTdOA-1YMdcdUH2RATEhAf_Ye6MQNtjG3ClMYQ,371
 jaxsim/rbda/contacts/common.py,sha256=qVm3Ghoytg1HAeykNrYw5-4rQJ4Mv7h0Pk75ETzGXyc,9045
 jaxsim/rbda/contacts/relaxed_rigid.py,sha256=RjeLF06Pp19qio447U9z5EdhdM6nyMh-ISQX_2-vdaE,21349
-jaxsim/rbda/contacts/rigid.py,sha256=ctJ4_4qSHaqGxCBMTYhvWWm8D4hJ-YdDiorJuURiNWw,17601
+jaxsim/rbda/contacts/rigid.py,sha256=gHOpNQ_sk7nQcpGAE_nFOSq8fza2yFv_Mqqs-e118q8,17603
 jaxsim/rbda/contacts/soft.py,sha256=Ac9aWDdjAm55Mv9LLnEs3nj7hX_NvJMnicV35SbFLSY,15282
 jaxsim/terrain/__init__.py,sha256=f7lVX-iNpH_wkkjef9Qpjh19TTAUOQw76EiLYJDVizc,78
 jaxsim/terrain/terrain.py,sha256=so8kqVsUlPXqOKQ_UaYW6HE4XS8nTZRdFdXQyhB2tG4,6725
@@ -65,8 +65,8 @@ 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.dev259.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.6.2.dev259.dist-info/METADATA,sha256=CTrShzNClPaRmA6R8VKttAgDC49h7V_TuWOk_Ry73Zc,19658
-jaxsim-0.6.2.dev259.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
-jaxsim-0.6.2.dev259.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.6.2.dev259.dist-info/RECORD,,
+jaxsim-0.6.2.dev264.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.6.2.dev264.dist-info/METADATA,sha256=KJmAE7MbfhUFSsRrMFTrHJTD3GUdaUPXVMuEFWU-HiU,19658
+jaxsim-0.6.2.dev264.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
+jaxsim-0.6.2.dev264.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.6.2.dev264.dist-info/RECORD,,