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[core] Do not enforce configuration bounds at init for spring-damper contact model. #654

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Oct 17, 2023
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[core] Do not enforce configuration bounds at init for spring-damper contact model. #654

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19 changes: 13 additions & 6 deletions core/src/engine/EngineMultiRobot.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1128,14 +1128,21 @@ namespace jiminy
return hresult_t::ERROR_BAD_INPUT;
}

// Note that EPS allows to be very slightly out-of-bounds
if ((system.robot->mdlOptions_->joints.enablePositionLimit &&
/* Check that the initial configuration is not out-of-bounds if appropriate
Note that EPS allows to be very slightly out-of-bounds, which may occurs because of rounding errors. */
if ((system.robot->mdlOptions_->joints.enablePositionLimit && (contactModel_ == contactModel_t::CONSTRAINT) &&
((EPS < q.array() - system.robot->getPositionLimitMax().array()).any() ||
(EPS < system.robot->getPositionLimitMin().array() - q.array()).any())) ||
(system.robot->mdlOptions_->joints.enableVelocityLimit &&
(EPS < v.array().abs() - system.robot->getVelocityLimit().array()).any()))
(EPS < system.robot->getPositionLimitMin().array() - q.array()).any())))
{
PRINT_ERROR("The initial configuration or velocity is out-of-bounds for system '", system.name, "'.");
PRINT_ERROR("The initial configuration is out-of-bounds for system '", system.name, "'.");
return hresult_t::ERROR_BAD_INPUT;
}

// Check that the initial velocity is not out-of-bounds
if ((system.robot->mdlOptions_->joints.enableVelocityLimit &&
(system.robot->getVelocityLimit().array() < v.array().abs()).any()))
{
PRINT_ERROR("The initial velocity is out-of-bounds for system '", system.name, "'.");
return hresult_t::ERROR_BAD_INPUT;
}

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