Code

Implement joint position limits#22

Code

Merged

diegoferigo merged 4 commits intomainami-iit/jaxsim:mainfrom feature/joint_limitsami-iit/jaxsim:feature/joint_limitsCopy head branch name to clipboardSep 28, 2022

+50-1

Commits

Commits on Sep 23, 2022

• Add spring/damper joint limits parameters to JointDescription

  diegoferigo

  committed
  5a9e142

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• Parse SDF elements axis/limit/dissipation and axis/limit/stiffness

  diegoferigo

  committed
  2fc5ef4

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• Include joint limits parameters into PhysicsModel

  diegoferigo

  committed
  0dfcaf0

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Commits on Sep 27, 2022

• Enforce joint limits in ODE state-space representation

  diegoferigo

  committed
  000b2db

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