jaxsim 0.6.2.dev242__tar.gz → 0.6.2.dev253__tar.gz

{jaxsim-0.6.2.dev242 → jaxsim-0.6.2.dev253}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev242
+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>

{jaxsim-0.6.2.dev242 → jaxsim-0.6.2.dev253}/src/jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev242'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev242')
+__version__ = version = '0.6.2.dev253'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev253')

{jaxsim-0.6.2.dev242 → jaxsim-0.6.2.dev253}/src/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-0.6.2.dev242 → jaxsim-0.6.2.dev253}/src/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-0.6.2.dev242 → jaxsim-0.6.2.dev253}/src/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-0.6.2.dev253/src/jaxsim/rbda/actuation/__init__.py

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

jaxsim-0.6.2.dev253/src/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.dev242 → jaxsim-0.6.2.dev253}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev242
+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>

{jaxsim-0.6.2.dev242 → jaxsim-0.6.2.dev253}/src/jaxsim.egg-info/SOURCES.txt

@@ -99,6 +99,8 @@ src/jaxsim/rbda/forward_kinematics.py
 src/jaxsim/rbda/jacobian.py
 src/jaxsim/rbda/rnea.py
 src/jaxsim/rbda/utils.py
+src/jaxsim/rbda/actuation/__init__.py
+src/jaxsim/rbda/actuation/common.py
 src/jaxsim/rbda/contacts/__init__.py
 src/jaxsim/rbda/contacts/common.py
 src/jaxsim/rbda/contacts/relaxed_rigid.py
@@ -112,6 +114,7 @@ src/jaxsim/utils/tracing.py
 src/jaxsim/utils/wrappers.py
 tests/__init__.py
 tests/conftest.py
+tests/test_actuation.py
 tests/test_api_com.py
 tests/test_api_contact.py
 tests/test_api_data.py

jaxsim-0.6.2.dev253/tests/test_actuation.py

@@ -0,0 +1,37 @@
+import jax.numpy as jnp
+
+import jaxsim.api as js
+import jaxsim.rbda
+from jaxsim import VelRepr
+
+
+def test_tn_curve(jaxsim_model_single_pendulum: js.model.JaxSimModel):
+
+    model = jaxsim_model_single_pendulum
+    new_act_params = jaxsim.rbda.actuation.ActuationParams()
+    with new_act_params.editable(validate=False) as new_act_params:
+        new_act_params.torque_max = 10
+        new_act_params.omega_th = 1
+        new_act_params.omega_max = 2
+    with model.editable(validate=False) as model:
+        model.actuation_params = new_act_params
+    data = js.data.JaxSimModelData.build(
+        model=model,
+        velocity_representation=VelRepr.Inertial,
+    )
+    new_joint_velocities = 1.5 * jnp.ones(model.dofs())
+    joint_torques_0 = 30 * jnp.ones(model.dofs())
+    data_0 = data.replace(model=model, joint_velocities=new_joint_velocities)
+
+    τ_total = js.actuation_model.compute_resultant_torques(
+        model, data_0, joint_force_references=joint_torques_0
+    )
+    assert (τ_total <= joint_torques_0).all()
+    new_joint_velocities = 2.5 * jnp.ones(model.dofs())
+    joint_torques_0 = 30 * jnp.ones(model.dofs())
+    data_0 = data.replace(model=model, joint_velocities=new_joint_velocities)
+
+    τ_total = js.actuation_model.compute_resultant_torques(
+        model, data_0, joint_force_references=joint_torques_0
+    )
+    assert (τ_total == jnp.zeros(model.dofs())).all()