jaxsim 0.4.3.dev269__py3-none-any.whl → 0.4.3.dev280__py3-none-any.whl

jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.4.3.dev269'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev269')
+__version__ = version = '0.4.3.dev280'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev280')

jaxsim/api/joint.py

@@ -122,8 +122,11 @@ def position_limit(
         The position limits of the joint.
     """
 
-    if model.number_of_joints() <= 1:
-        return jnp.empty(0).astype(float), jnp.empty(0).astype(float)
+    if model.number_of_joints() == 0:
+        s_min = model.kin_dyn_parameters.joint_parameters.position_limits_min
+        s_max = model.kin_dyn_parameters.joint_parameters.position_limits_max
+
+        return jnp.atleast_1d(s_min).astype(float), jnp.atleast_1d(s_max).astype(float)
 
     exceptions.raise_value_error_if(
         condition=jnp.array(

jaxsim/api/model.py

@@ -2156,9 +2156,9 @@ def step(
                     )
                 )
 
-            # Reset the generalized velocity.
-            data_tf = data_tf.reset_base_velocity(BW_nu_post_impact[0:6])
-            data_tf = data_tf.reset_joint_velocities(BW_nu_post_impact[6:])
+                # Reset the generalized velocity.
+                data_tf = data_tf.reset_base_velocity(BW_nu_post_impact[0:6])
+                data_tf = data_tf.reset_joint_velocities(BW_nu_post_impact[6:])
 
     # Restore the input velocity representation.
     data_tf = data_tf.replace(

jaxsim/api/ode.py

@@ -243,9 +243,40 @@ def system_acceleration(
     # Enforce joint limits
     # ====================
 
-    # TODO: enforce joint limits
     τ_position_limit = jnp.zeros_like(τ_references).astype(float)
 
+    if model.dofs() > 0:
+
+        # Stiffness and damper parameters for the joint position limits.
+        k_j = jnp.array(
+            model.kin_dyn_parameters.joint_parameters.position_limit_spring
+        ).astype(float)
+        d_j = jnp.array(
+            model.kin_dyn_parameters.joint_parameters.position_limit_damper
+        ).astype(float)
+
+        # Compute the joint position limit violations.
+        lower_violation = jnp.clip(
+            data.state.physics_model.joint_positions
+            - model.kin_dyn_parameters.joint_parameters.position_limits_min,
+            max=0.0,
+        )
+
+        upper_violation = jnp.clip(
+            data.state.physics_model.joint_positions
+            - model.kin_dyn_parameters.joint_parameters.position_limits_max,
+            min=0.0,
+        )
+
+        # Compute the joint position limit torque.
+        τ_position_limit -= jnp.diag(k_j) @ (lower_violation + upper_violation)
+
+        τ_position_limit -= (
+            jnp.positive(τ_position_limit)
+            * jnp.diag(d_j)
+            @ data.state.physics_model.joint_velocities
+        )
+
     # ====================
     # Joint friction model
     # ====================

jaxsim/parsers/rod/parser.py

@@ -1,4 +1,5 @@
 import dataclasses
+import os
 import pathlib
 from typing import NamedTuple
 
@@ -273,14 +274,14 @@ def extract_model_data(
                 if j.axis is not None
                 and j.axis.limit is not None
                 and j.axis.limit.dissipation is not None
-                else 0.0
+                else os.environ.get("JAXSIM_JOINT_POSITION_LIMIT_DAMPER", 0.0)
             ),
             position_limit_spring=float(
                 j.axis.limit.stiffness
                 if j.axis is not None
                 and j.axis.limit is not None
                 and j.axis.limit.stiffness is not None
-                else 0.0
+                else os.environ.get("JAXSIM_JOINT_POSITION_LIMIT_SPRING", 0.0)
             ),
         )
         for j in sdf_model.joints()

{jaxsim-0.4.3.dev269.dist-info → jaxsim-0.4.3.dev280.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev269
+Version: 0.4.3.dev280
 Summary: A differentiable physics engine and multibody dynamics library for control and robot learning.
 Author-email: Diego Ferigo <dgferigo@gmail.com>
 Maintainer-email: Diego Ferigo <dgferigo@gmail.com>, Filippo Luca Ferretti <filippo.ferretti@iit.it>

{jaxsim-0.4.3.dev269.dist-info → jaxsim-0.4.3.dev280.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=opgtbhhd1kDsHI4H1vOd3loMPDRi884yQ3tohfFGfNc,3382
-jaxsim/_version.py,sha256=OawRAQdHlu_afqGSl1ctP75uaAlAxnxKssKlI9hT4tQ,428
+jaxsim/_version.py,sha256=U12VcDXh7Zu7La30KnfhDG0g-i5JqVyuLLRlI8iTnrI,428
 jaxsim/exceptions.py,sha256=vSoScaRD4nvh6jltgK9Ry5pKnE0O5hb4_yI_pk_fvR8,2175
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=2HXy9hgazPXjofi1vLQ09ZubPtgVmg80U9NKmZ6NYiI,761
@@ -9,11 +9,11 @@ jaxsim/api/common.py,sha256=SNgxq42r6eF_-aPszvOjUYkGwXOzz4hKmhDwEUkscFQ,6650
 jaxsim/api/contact.py,sha256=iiQc8vdlJ60Vl-ki4ieP7TW6MJhJfWREYpcVyyEWT0M,24034
 jaxsim/api/data.py,sha256=gQX6hfEaw0ooJYvpr5f8UvEJwqhtflEK_NHWn9XgTZY,28935
 jaxsim/api/frame.py,sha256=yPSgNygHkvWlln4wShNt7vZm_fFobVEm7phsklNNyH8,12922
-jaxsim/api/joint.py,sha256=lksT1Doxz2jknHyhb4ls20z6f6dofpZSzBJtVacZXAE,7129
+jaxsim/api/joint.py,sha256=iz7kHLLXMjlDOjKN0T6tcutWCnpnFAOA2IEE9GuxlQI,7304
 jaxsim/api/kin_dyn_parameters.py,sha256=kbDN5n9uj8CamVJXk1U5oYLbxyjaWDIeUG0V68DCEFs,29578
 jaxsim/api/link.py,sha256=LAA6ZMQXkWomXeptURBtc7z3_xDZ2BBnBMhVrohh0bE,18621
-jaxsim/api/model.py,sha256=bWMCE-tWyF1Ijf2dq3GOe3s0GK53E1Eh-YFVAgv7vNU,73398
-jaxsim/api/ode.py,sha256=jFE4yk5lHSNk_SynbgA4tHcPdWq17cB-qUUW8KhcknQ,14289
+jaxsim/api/model.py,sha256=dpQZDT0BodMfK1wmpG-STFh-rFsJStobQ1fhrWILK9o,73410
+jaxsim/api/ode.py,sha256=_t18avoCJngQk6eMFTGpaeahbpchQP20qJnUOCPkz8s,15360
 jaxsim/api/ode_data.py,sha256=1SD-x-lYk_YSEnVpxTLd69uOKC0mFUj44ZqpSmEDOxw,20190
 jaxsim/api/references.py,sha256=fW77LitZ8DYgT6ZmUInJfm5luBV1mTcqcNRiC_i79og,20862
 jaxsim/integrators/__init__.py,sha256=hxvOD-VK_mmd6v31wtC-nb28AYve1gLuZCNLV9wS-Kg,103
@@ -43,7 +43,7 @@ jaxsim/parsers/descriptions/joint.py,sha256=VSb6C0FBBKMqwrHBKfc-Bbn4rl_J0RzUxMQl
 jaxsim/parsers/descriptions/link.py,sha256=Eh0W5qL7_Uw0GV-BkNKXhm9Q2dRTfIWCX5D-87zQkxA,3711
 jaxsim/parsers/descriptions/model.py,sha256=I2Vsbv8Josl4Le7b5rIvhqA2k9Bbv5JxMqwytayxds0,9833
 jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrGU,92
-jaxsim/parsers/rod/parser.py,sha256=9zBYTQF2vC4NO6HEZBvV8VTaGuZSdbd3v66BAcMpuVI,13923
+jaxsim/parsers/rod/parser.py,sha256=P3QFPdI2NBxL4TALcPhL6Exij9-Q9W716Aps2cb8s2I,14041
 jaxsim/parsers/rod/utils.py,sha256=5DsF3OeePZGidOJ5GiFSZx-51uIdnFvMW9EK6SgOW6Q,5698
 jaxsim/rbda/__init__.py,sha256=kmy4G9aMkrqPNGdLSaSV3k15dpF52vBEUQXDFDuKIxU,337
 jaxsim/rbda/aba.py,sha256=w7ciyxB0IsmueatT0C7PcBQEl9dyiH9oqJgIi3xeTUE,8983
@@ -65,8 +65,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=TGmTQV2Lq7Q-2nLoAEaeNtkPa_qj0IKkdBm4COj46Os,11312
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=Fh82ZcaFi5fUnByyFLnmumaobsu1hJIvFdopUVzJ1ps,4052
-jaxsim-0.4.3.dev269.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev269.dist-info/METADATA,sha256=duM0e5oZnIH-TNDLRoAeBN0JXf8M4gbLlnrTw9DppiU,17276
-jaxsim-0.4.3.dev269.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
-jaxsim-0.4.3.dev269.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev269.dist-info/RECORD,,
+jaxsim-0.4.3.dev280.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev280.dist-info/METADATA,sha256=3Ad6_an0aEBTc9JVFxZbdbT-0PnAWLKgEVRW37ztcxo,17276
+jaxsim-0.4.3.dev280.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
+jaxsim-0.4.3.dev280.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev280.dist-info/RECORD,,