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Add flag to disable joint friction #465

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Merged
merged 2 commits into from
Nov 14, 2025
Merged

Add flag to disable joint friction #465

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0d4a9b5
Add flag to disable any type of joint friction
flferretti Sep 15, 2025
2120a6d
Rename `friction` to `enable_friction`
flferretti Nov 14, 2025
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3 changes: 2 additions & 1 deletion src/jaxsim/api/actuation_model.py
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Expand Up @@ -71,7 +71,8 @@ def compute_resultant_torques(

τ_friction = jnp.zeros_like(τ_references).astype(float)

if model.dofs() > 0:
# Apply joint friction only if enabled in the actuation parameters.
if model.dofs() > 0 and model.actuation_params.enable_friction:

# Static and viscous joint friction parameters
kc = jnp.array(
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2 changes: 2 additions & 0 deletions src/jaxsim/rbda/actuation/common.py
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@@ -1,6 +1,7 @@
import dataclasses

import jax_dataclasses
from jax_dataclasses import Static

import jaxsim.typing as jtp
from jaxsim.utils import JaxsimDataclass
Expand All @@ -15,3 +16,4 @@ class ActuationParams(JaxsimDataclass):
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)
enable_friction: Static[bool] = dataclasses.field(default=True)