jaxsim 0.6.2.dev240__py3-none-any.whl → 0.6.2.dev253__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.dev240'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev240')
+__version__ = version = '0.6.2.dev253'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev253')

jaxsim/api/actuation_model.py

@@ -92,5 +92,34 @@ def compute_resultant_torques(
     # ===============================
 
     τ_total = τ_references + τ_friction + τ_position_limit
-
+    τ_lim = tn_curve_fn(model=model, data=data)
+    τ_total = jnp.clip(τ_total, -τ_lim, τ_lim)
     return τ_total
+
+
+def tn_curve_fn(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Vector:
+    """
+    Compute the torque limits using the tn curve.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The torque limits.
+    """
+
+    τ_max = model.actuation_params.torque_max  # Max torque (Nm)
+    ω_th = model.actuation_params.omega_th  # Threshold speed (rad/s)
+    ω_max = model.actuation_params.omega_max  # Max speed for torque drop-off (rad/s)
+    abs_vel = jnp.abs(data.joint_velocities)
+    τ_lim = jnp.where(
+        abs_vel <= ω_th,
+        τ_max,
+        jnp.where(
+            abs_vel <= ω_max, τ_max * (1 - (abs_vel - ω_th) / (ω_max - ω_th)), 0.0
+        ),
+    )
+    return τ_lim

jaxsim/api/model.py

@@ -57,6 +57,10 @@ class JaxSimModel(JaxsimDataclass):
         default=None, repr=False
     )
 
+    actuation_params: Static[jaxsim.rbda.actuation.ActuationParams] = dataclasses.field(
+        default=None, repr=False
+    )
+
     kin_dyn_parameters: js.kin_dyn_parameters.KinDynParameters | None = (
         dataclasses.field(default=None, repr=False)
     )
@@ -121,6 +125,7 @@ class JaxSimModel(JaxsimDataclass):
         terrain: jaxsim.terrain.Terrain | None = None,
         contact_model: jaxsim.rbda.contacts.ContactModel | None = None,
         contact_params: jaxsim.rbda.contacts.ContactsParams | None = None,
+        actuation_params: jaxsim.rbda.actuation.ActuationParams | None = None,
         integrator: IntegratorType | None = None,
         is_urdf: bool | None = None,
         considered_joints: Sequence[str] | None = None,
@@ -143,6 +148,7 @@ class JaxSimModel(JaxsimDataclass):
                 The contact model to consider.
                 If not specified, a soft contacts model is used.
             contact_params: The parameters of the contact model.
+            actuation_params: The parameters of the actuation model.
             integrator: The integrator to use for the simulation.
             is_urdf:
                 The optional flag to force the model description to be parsed as a URDF.
@@ -177,6 +183,7 @@ class JaxSimModel(JaxsimDataclass):
             time_step=time_step,
             terrain=terrain,
             contact_model=contact_model,
+            actuation_params=actuation_params,
             contact_params=contact_params,
             integrator=integrator,
             gravity=-gravity,
@@ -198,6 +205,7 @@ class JaxSimModel(JaxsimDataclass):
         terrain: jaxsim.terrain.Terrain | None = None,
         contact_model: jaxsim.rbda.contacts.ContactModel | None = None,
         contact_params: jaxsim.rbda.contacts.ContactsParams | None = None,
+        actuation_params: jaxsim.rbda.actuation.ActuationParams | None = None,
         integrator: IntegratorType | None = None,
         gravity: jtp.FloatLike = jaxsim.math.STANDARD_GRAVITY,
     ) -> JaxSimModel:
@@ -219,6 +227,7 @@ class JaxSimModel(JaxsimDataclass):
                 The contact model to consider.
                 If not specified, a relaxed-constraints rigid contacts model is used.
             contact_params: The parameters of the contact model.
+            actuation_params: The parameters of the actuation model.
             integrator: The integrator to use for the simulation.
             gravity: The gravity constant.
 
@@ -255,6 +264,9 @@ class JaxSimModel(JaxsimDataclass):
         if contact_params is None:
             contact_params = contact_model._parameters_class()
 
+        if actuation_params is None:
+            actuation_params = jaxsim.rbda.actuation.ActuationParams()
+
         # Consider the default integrator if not specified.
         integrator = (
             integrator
@@ -272,6 +284,7 @@ class JaxSimModel(JaxsimDataclass):
             terrain=terrain,
             contact_model=contact_model,
             contact_params=contact_params,
+            actuation_params=actuation_params,
             integrator=integrator,
             gravity=gravity,
             # The following is wrapped as hashless since it's a static argument, and we
@@ -474,6 +487,7 @@ def reduce(
         terrain=model.terrain,
         contact_model=model.contact_model,
         contact_params=model.contact_params,
+        actuation_params=model.actuation_params,
         gravity=model.gravity,
         integrator=model.integrator,
     )

jaxsim/rbda/__init__.py

@@ -1,4 +1,4 @@
-from . import contacts
+from . import actuation, contacts
 from .aba import aba
 from .collidable_points import collidable_points_pos_vel
 from .crba import crba

jaxsim/rbda/actuation/__init__.py

@@ -0,0 +1 @@
+from .common import ActuationParams

jaxsim/rbda/actuation/common.py

@@ -0,0 +1,17 @@
+import dataclasses
+
+import jax_dataclasses
+
+import jaxsim.typing as jtp
+from jaxsim.utils import JaxsimDataclass
+
+
+@jax_dataclasses.pytree_dataclass
+class ActuationParams(JaxsimDataclass):
+    """
+    Parameters class for the actuation model.
+    """
+
+    torque_max: jtp.Float = dataclasses.field(default=3000.0)  # (Nm)
+    omega_th: jtp.Float = dataclasses.field(default=30.0)  # (rad/s)
+    omega_max: jtp.Float = dataclasses.field(default=100.0)  # (rad/s)

{jaxsim-0.6.2.dev240.dist-info → jaxsim-0.6.2.dev253.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev240
+Version: 0.6.2.dev253
 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>
@@ -80,7 +80,7 @@ Requires-Dist: idyntree>=12.2.1; extra == "testing"
 Requires-Dist: pytest>=6.0; extra == "testing"
 Requires-Dist: pytest-benchmark; extra == "testing"
 Requires-Dist: pytest-icdiff; extra == "testing"
-Requires-Dist: robot-descriptions; extra == "testing"
+Requires-Dist: robot-descriptions>=1.16.0; extra == "testing"
 Requires-Dist: icub-models; extra == "testing"
 Provides-Extra: viz
 Requires-Dist: lxml; extra == "viz"

{jaxsim-0.6.2.dev240.dist-info → jaxsim-0.6.2.dev253.dist-info}/RECORD

@@ -1,10 +1,10 @@
 jaxsim/__init__.py,sha256=b8dYoVXqtHxHcF56iM2xgKk78lsvmGrfDlvdwaGasgs,3388
-jaxsim/_version.py,sha256=9_vQ-pHA6EBcv2E9ChjjN2S06eCFOnEND0WdDwqW1bk,528
+jaxsim/_version.py,sha256=tso8wO5VrX4RPYa0ZLA_aUJ6ylncC96kilEqh4mUO5U,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=4skzcTTejLFfZ_JE6yEEyNxObpXnR5u-bYsn2lBEx-4,234
-jaxsim/api/actuation_model.py,sha256=L8AzxIiEquWeG8UGGJaYr2Alt4dkkOROlbsCn9hUYik,2825
+jaxsim/api/actuation_model.py,sha256=GgLi-yhEpsczwhMNYIlMvet8tirmmED6S7AumbSbk4U,3705
 jaxsim/api/com.py,sha256=47a9SSaXY540RCkVnHodwLNUrodIfJIkguIYdSEQVwQ,13697
 jaxsim/api/common.py,sha256=yTaRXDYkXmISBOhZ93f9TssR0p4wq7qj7B6OsvYzRME,6942
 jaxsim/api/contact.py,sha256=dlKKDQUG-KQ5qQaYBv2NmZLDb1OnJdltZv8MWXkD_W0,20969
@@ -14,7 +14,7 @@ jaxsim/api/integrators.py,sha256=DgOnzLepy45e-TM6Infk8qfPXn0r8GubCdJQZmNLP8w,526
 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=LkhQaN4ZgoQUOTTtDaa4y689vTF14VCeVeaqCkjB_t8,69237
+jaxsim/api/model.py,sha256=rZK8YigkM1pHxx0Aj9AJDpFma7I_pNgcs8lzPF8ukUk,69914
 jaxsim/api/ode.py,sha256=fp20_LK9lXw2DfNkQgrfJmtd_iBXDNzZkOn0u5Pm8Qw,6190
 jaxsim/api/references.py,sha256=-vd50y3v-jkXAsILS432etIKV6e2EUE2oOeLHuUrfuQ,20399
 jaxsim/math/__init__.py,sha256=dNozvtm8WsB7nxw4uK29yQQKPcDUEczr2zcHoZfMItc,383
@@ -44,7 +44,7 @@ jaxsim/parsers/rod/__init__.py,sha256=G2vqlLajBLUc4gyzXwsEI2Wsi4TMOIF9bLDFeT6KrG
 jaxsim/parsers/rod/meshes.py,sha256=yAXefG73_zqbVKRUdlcz9yFmypjDIpiP9cO96PeAozE,2842
 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=nQ01ALTXm8lJAb5flCOzxfjyDZPbDrP4H3v-xlfyCss,317
+jaxsim/rbda/__init__.py,sha256=ksfupKZzeJyysxrbyMyEfszUdBH6LfCfkSz3KLfODhY,328
 jaxsim/rbda/aba.py,sha256=QiajR4Uv06u-BX5V2kWpmFmP_kIfTxxcycdJhIbid9A,9029
 jaxsim/rbda/collidable_points.py,sha256=XyeV1I43GL22j03rkNVocaIPOGYirt3PiDHrFMndziQ,2070
 jaxsim/rbda/crba.py,sha256=DC9kBXMG1qXaoAdo8K7OCnVHT_YUaL_t6Li56sRf8ro,5093
@@ -52,6 +52,8 @@ jaxsim/rbda/forward_kinematics.py,sha256=qem7Yp-B2oNVOsU3Q2CWV2tbfZKJOCAdDozFgaP
 jaxsim/rbda/jacobian.py,sha256=EaMvf073UnLWJGXm4UZIlYd4erulFAGgj_pp89k6xic,11113
 jaxsim/rbda/rnea.py,sha256=lMU7xxdPqGGzk0QwteB-IYjL4auHOpd78C1YqAXlp9s,7588
 jaxsim/rbda/utils.py,sha256=6JwEDQqLMsBX7CUmPYEhdPEscXmGbWVYg6xEriPOgvE,5587
+jaxsim/rbda/actuation/__init__.py,sha256=zWqB8VBHadbyf8FAuhQtcfWdetGjfVxuNDwIeUqNOS4,36
+jaxsim/rbda/actuation/common.py,sha256=aGFqO4VTgQLsTJyOtVuoa_otT_RbkckmG3rq7wjOyB4,462
 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
@@ -63,8 +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.dev240.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.6.2.dev240.dist-info/METADATA,sha256=Go-kdpTN2ToxRnVT9CFsZIopySXr7UNG6fX9J-1nbCs,19650
-jaxsim-0.6.2.dev240.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
-jaxsim-0.6.2.dev240.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.6.2.dev240.dist-info/RECORD,,
+jaxsim-0.6.2.dev253.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.6.2.dev253.dist-info/METADATA,sha256=F_UAPp-S0HPegiLJOZ2yiiu8y1qQRmIIqzwYiiuiieM,19658
+jaxsim-0.6.2.dev253.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
+jaxsim-0.6.2.dev253.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.6.2.dev253.dist-info/RECORD,,