jaxsim 0.4.3.dev61__py3-none-any.whl → 0.4.3.dev64__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.dev61'
-__version_tuple__ = version_tuple = (0, 4, 3, 'dev61')
+__version__ = version = '0.4.3.dev64'
+__version_tuple__ = version_tuple = (0, 4, 3, 'dev64')

jaxsim/api/data.py

@@ -746,6 +746,13 @@ def random_model_data(
         jtp.FloatLike | Sequence[jtp.FloatLike],
         jtp.FloatLike | Sequence[jtp.FloatLike],
     ] = ((-1, -1, 0.5), 1.0),
+    joint_pos_bounds: (
+        tuple[
+            jtp.FloatLike | Sequence[jtp.FloatLike],
+            jtp.FloatLike | Sequence[jtp.FloatLike],
+        ]
+        | None
+    ) = None,
     base_vel_lin_bounds: tuple[
         jtp.FloatLike | Sequence[jtp.FloatLike],
         jtp.FloatLike | Sequence[jtp.FloatLike],
@@ -771,6 +778,8 @@ def random_model_data(
         key: The random key.
         velocity_representation: The velocity representation to use.
         base_pos_bounds: The bounds for the base position.
+        joint_pos_bounds:
+            The bounds for the joint positions (reading the joint limits if None).
         base_vel_lin_bounds: The bounds for the base linear velocity.
         base_vel_ang_bounds: The bounds for the base angular velocity.
         joint_vel_bounds: The bounds for the joint velocities.
@@ -815,8 +824,19 @@ def random_model_data(
         ).wxyz
 
         if model.number_of_joints() > 0:
-            physics_model_state.joint_positions = js.joint.random_joint_positions(
-                model=model, key=k3
+
+            s_min, s_max = (
+                jnp.array(joint_pos_bounds, dtype=float)
+                if joint_pos_bounds is not None
+                else (None, None)
+            )
+
+            physics_model_state.joint_positions = (
+                js.joint.random_joint_positions(model=model, key=k3)
+                if (s_min is None or s_max is None)
+                else jax.random.uniform(
+                    key=k3, shape=(model.dofs(),), minval=s_min, maxval=s_max
+                )
             )
 
             physics_model_state.joint_velocities = jax.random.uniform(

jaxsim/api/joint.py

@@ -180,17 +180,77 @@ def random_joint_positions(
 
     Args:
         model: The model to consider.
-        joint_names: The names of the joints.
-        key: The random key.
+        joint_names: The names of the considered joints (all if None).
+        key: The random key (initialized from seed 0 if None).
+
+    Note:
+        If the joint range or revolute joints is larger than 2π, their joint positions
+        will be sampled from an interval of size 2π.
 
     Returns:
         The random joint positions.
     """
 
+    # Consider the key corresponding to a zero seed if it was not passed.
     key = key if key is not None else jax.random.PRNGKey(seed=0)
 
+    # Get the joint limits parsed from the model description.
     s_min, s_max = position_limits(model=model, joint_names=joint_names)
 
+    # Get the joint indices.
+    # Note that it will trigger an exception if the given `joint_names` are not valid.
+    joint_names = joint_names if joint_names is not None else model.joint_names()
+    joint_indices = names_to_idxs(model=model, joint_names=joint_names)
+
+    from jaxsim.parsers.descriptions.joint import JointType
+
+    # Filter for revolute joints.
+    is_revolute = jnp.where(
+        jnp.array(model.kin_dyn_parameters.joint_model.joint_types[1:])[joint_indices]
+        == JointType.Revolute,
+        True,
+        False,
+    )
+
+    # Shorthand for π.
+    π = jnp.pi
+
+    # Filter for revolute with full range (or continuous).
+    is_revolute_full_range = jnp.logical_and(is_revolute, s_max - s_min >= 2 * π)
+
+    # Clip the lower limit to -π if the joint range is larger than [-π, π].
+    s_min = jnp.where(
+        jnp.logical_and(
+            is_revolute_full_range, jnp.logical_and(s_min <= -π, s_max >= π)
+        ),
+        -π,
+        s_min,
+    )
+
+    # Clip the upper limit to +π if the joint range is larger than [-π, π].
+    s_max = jnp.where(
+        jnp.logical_and(
+            is_revolute_full_range, jnp.logical_and(s_min <= -π, s_max >= π)
+        ),
+        π,
+        s_max,
+    )
+
+    # Shift the lower limit if the upper limit is smaller than +π.
+    s_min = jnp.where(
+        jnp.logical_and(is_revolute_full_range, s_max < π),
+        s_max - 2 * π,
+        s_min,
+    )
+
+    # Shift the upper limit if the lower limit is larger than -π.
+    s_max = jnp.where(
+        jnp.logical_and(is_revolute_full_range, s_min > -π),
+        s_min + 2 * π,
+        s_max,
+    )
+
+    # Sample the joint positions.
     s_random = jax.random.uniform(
         minval=s_min,
         maxval=s_max,

{jaxsim-0.4.3.dev61.dist-info → jaxsim-0.4.3.dev64.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.4.3.dev61
+Version: 0.4.3.dev64
 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.dev61.dist-info → jaxsim-0.4.3.dev64.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=bSbpggIz5aG6QuGZLa0V2EfHjAOeucMxi-vIYxzLmN8,2788
-jaxsim/_version.py,sha256=-X1WOrm5bVGXKgqXhQ2hfs9nX5G3KTlE1ShNm2Qfmi0,426
+jaxsim/_version.py,sha256=lLNskxtfHW1HqvnLRuhux3LlK89fMiZFUWknSYopw7k,426
 jaxsim/exceptions.py,sha256=8_h8iqL8DgNR754dR8SZiQ7361GR5V1sUk3ZuZCHw1Q,2069
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=2HXy9hgazPXjofi1vLQ09ZubPtgVmg80U9NKmZ6NYiI,761
@@ -7,9 +7,9 @@ jaxsim/api/__init__.py,sha256=8eV22t2S3UwNyCg8karPetG1dmX1VDBXkyv28_FwNQA,210
 jaxsim/api/com.py,sha256=m-p3EJDhpnMTlXKplfbZE_aH9NqX_VyLlAE3vUhc6l4,13642
 jaxsim/api/common.py,sha256=SNgxq42r6eF_-aPszvOjUYkGwXOzz4hKmhDwEUkscFQ,6650
 jaxsim/api/contact.py,sha256=C_PgMjWYYiqpA7Oz3IxHeFgrp855-xG6AQr6Ze98CtI,21863
-jaxsim/api/data.py,sha256=xu1KFL7YLaj6J52DfefTIp5pumoaspPNk1XYQRijYNQ,27538
+jaxsim/api/data.py,sha256=mFUw2mj8AIXduW6HnkGN7eooZHfJhwnWbtYZfLF6gk4,28206
 jaxsim/api/frame.py,sha256=KS8A5wRfjxhe9NgcVo2QA516iP5zky7UVnWxG7nTa7c,12911
-jaxsim/api/joint.py,sha256=L81bQe-noPT6_54KOSF7KBjRmEPAS433ULn2EcXI8vI,5115
+jaxsim/api/joint.py,sha256=lksT1Doxz2jknHyhb4ls20z6f6dofpZSzBJtVacZXAE,7129
 jaxsim/api/kin_dyn_parameters.py,sha256=CcfSg5Mc8qb1mZeMQ4AK_ffZIsK5yOl7tu397pFhcDA,29369
 jaxsim/api/link.py,sha256=qPRtc8qqMRjZxUCZYXJMygbB6huDXBfIT1b1b8Durkw,18631
 jaxsim/api/model.py,sha256=K0q8-j-04f6B3MEXsctDGtWiuWlN3HbDrsS7zoPYStk,65871
@@ -63,8 +63,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=FSiUvdnq4Y1T9Jaa_mw4ZBQJe8H7deLr3Kupxtlh4iI,11322
 jaxsim/utils/tracing.py,sha256=KDMoyVPlu2NJvFkhtZwq5AkqMMgajt3munvJom-vEjQ,650
 jaxsim/utils/wrappers.py,sha256=Fh82ZcaFi5fUnByyFLnmumaobsu1hJIvFdopUVzJ1ps,4052
-jaxsim-0.4.3.dev61.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.4.3.dev61.dist-info/METADATA,sha256=I4iQjmhyhZrn98uoXHGLKM_o3k_NVNGhrugZ4ZTlhkI,17276
-jaxsim-0.4.3.dev61.dist-info/WHEEL,sha256=cVxcB9AmuTcXqmwrtPhNK88dr7IR_b6qagTj0UvIEbY,91
-jaxsim-0.4.3.dev61.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.4.3.dev61.dist-info/RECORD,,
+jaxsim-0.4.3.dev64.dist-info/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.4.3.dev64.dist-info/METADATA,sha256=0-JS1eJjFMSaMzwqbCSpWYU2GcrZkxT1LBDo7lhWICo,17276
+jaxsim-0.4.3.dev64.dist-info/WHEEL,sha256=cVxcB9AmuTcXqmwrtPhNK88dr7IR_b6qagTj0UvIEbY,91
+jaxsim-0.4.3.dev64.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.4.3.dev64.dist-info/RECORD,,