jaxsim 0.2.dev191__tar.gz → 0.2.dev366__tar.gz

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/.github/workflows/ci_cd.yml

@@ -100,11 +100,22 @@ jobs:
         with:
           fetch-depth: 0
 
-      - name: Install Gazebo Classic
+#      - name: Install Gazebo Classic
+#        if: contains(matrix.os, 'ubuntu')
+#        run: |
+#          sudo apt-get update
+#          sudo apt-get install gazebo
+
+      # https://gazebosim.org/docs/harmonic/install_ubuntu
+      - name: Install Gazebo Sim
         if: contains(matrix.os, 'ubuntu')
         run: |
           sudo apt-get update
-          sudo apt-get install gazebo
+          sudo apt-get install lsb-release wget gnupg
+          sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+          sudo apt-get update
+          sudo apt-get install gz-harmonic
 
       - name: Run the Python tests
         if: contains(matrix.os, 'ubuntu')

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.2.dev191
+Version: 0.2.dev366
 Summary: A physics engine in reduced coordinates implemented with JAX.
 Home-page: https://github.com/ami-iit/jaxsim
 Author: Diego Ferigo
@@ -31,12 +31,12 @@ Requires-Python: >=3.11
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: coloredlogs
-Requires-Dist: jax<0.4.25,>=0.4.13
-Requires-Dist: jaxlib<0.4.25,>=0.4.13
+Requires-Dist: jax>=0.4.13
+Requires-Dist: jaxlib>=0.4.13
 Requires-Dist: jaxlie>=1.3.0
 Requires-Dist: jax_dataclasses>=1.4.0
 Requires-Dist: pptree
-Requires-Dist: rod
+Requires-Dist: rod>=0.2.0
 Requires-Dist: typing_extensions; python_version < "3.12"
 Provides-Extra: style
 Requires-Dist: black[jupyter]; extra == "style"
@@ -45,7 +45,6 @@ Requires-Dist: pre-commit; extra == "style"
 Provides-Extra: testing
 Requires-Dist: idyntree; extra == "testing"
 Requires-Dist: pytest>=6.0; extra == "testing"
-Requires-Dist: pytest-forked; extra == "testing"
 Requires-Dist: pytest-icdiff; extra == "testing"
 Requires-Dist: robot-descriptions; extra == "testing"
 Provides-Extra: viz
@@ -58,7 +57,6 @@ Requires-Dist: isort; extra == "all"
 Requires-Dist: pre-commit; extra == "all"
 Requires-Dist: idyntree; extra == "all"
 Requires-Dist: pytest>=6.0; extra == "all"
-Requires-Dist: pytest-forked; extra == "all"
 Requires-Dist: pytest-icdiff; extra == "all"
 Requires-Dist: robot-descriptions; extra == "all"
 Requires-Dist: lxml; extra == "all"

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/environment.yml

@@ -10,7 +10,7 @@ dependencies:
   - jaxlie >= 1.3.0
   - jax-dataclasses >= 1.4.0
   - pptree
-  - rod
+  - rod >= 0.2.0
   - typing_extensions # python<3.12
   # Optional dependencies from setup.cfg
   # [style]
@@ -19,7 +19,6 @@ dependencies:
   # [testing]
   - idyntree
   - pytest
-  - pytest-forked
   - pytest-icdiff
   - robot_descriptions
   # [viz]

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/pyproject.toml

@@ -19,7 +19,7 @@ multi_line_output = 3
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "-rsxX -v --strict-markers --forked"
+addopts = "-rsxX -v --strict-markers"
 testpaths = [
     "tests",
 ]

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/setup.cfg

@@ -50,12 +50,12 @@ package_dir =
 python_requires = >=3.11
 install_requires = 
 	coloredlogs
-	jax >= 0.4.13,< 0.4.25
-	jaxlib >= 0.4.13,< 0.4.25
+	jax >= 0.4.13
+	jaxlib >= 0.4.13
 	jaxlie >= 1.3.0
 	jax_dataclasses >= 1.4.0
 	pptree
-	rod
+	rod >= 0.2.0
 	typing_extensions ; python_version < '3.12'
 
 [options.packages.find]
@@ -68,8 +68,7 @@ style =
 	pre-commit
 testing = 
 	idyntree
-	pytest >= 6.0
-	pytest-forked
+	pytest >=6.0
 	pytest-icdiff
 	robot-descriptions
 viz = 

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/src/jaxsim/__init__.py

@@ -61,7 +61,6 @@ del _jnp_options
 del _np_options
 del _is_editable
 
-from . import high_level, logging, math, simulation, sixd
-from .high_level.common import VelRepr
-from .simulation.ode_integration import IntegratorType
-from .simulation.simulator import JaxSim
+from . import terrain  # isort:skip
+from . import api, integrators, logging, math, rbda
+from .api.common import VelRepr

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.2.dev191'
-__version_tuple__ = version_tuple = (0, 2, 'dev191')
+__version__ = version = '0.2.dev366'
+__version_tuple__ = version_tuple = (0, 2, 'dev366')

jaxsim-0.2.dev366/src/jaxsim/api/__init__.py

@@ -0,0 +1,3 @@
+from . import common  # isort:skip
+from . import model, data  # isort:skip
+from . import com, contact, joint, kin_dyn_parameters, link, ode, ode_data, references

jaxsim-0.2.dev366/src/jaxsim/api/com.py

@@ -0,0 +1,240 @@
+import jax
+import jax.numpy as jnp
+import jaxlie
+
+import jaxsim.api as js
+import jaxsim.math
+import jaxsim.typing as jtp
+
+from .common import VelRepr
+
+
+@jax.jit
+def com_position(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Vector:
+    """
+    Compute the position of the center of mass of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The position of the center of mass of the model w.r.t. the world frame.
+    """
+
+    m = js.model.total_mass(model=model)
+
+    W_H_L = js.model.forward_kinematics(model=model, data=data)
+    W_H_B = data.base_transform()
+    B_H_W = jaxlie.SE3.from_matrix(W_H_B).inverse().as_matrix()
+
+    def B_p̃_LCoM(i) -> jtp.Vector:
+        m = js.link.mass(model=model, link_index=i)
+        L_p_LCoM = js.link.com_position(
+            model=model, data=data, link_index=i, in_link_frame=True
+        )
+        return m * B_H_W @ W_H_L[i] @ jnp.hstack([L_p_LCoM, 1])
+
+    com_links = jax.vmap(B_p̃_LCoM)(jnp.arange(model.number_of_links()))
+
+    B_p̃_CoM = (1 / m) * com_links.sum(axis=0)
+    B_p̃_CoM = B_p̃_CoM.at[3].set(1)
+
+    return (W_H_B @ B_p̃_CoM)[0:3].astype(float)
+
+
+@jax.jit
+def com_linear_velocity(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Vector:
+    r"""
+    Compute the linear velocity of the center of mass of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The linear velocity of the center of mass of the model in the
+        active representation.
+
+    Note:
+        The linear velocity of the center of mass  is expressed in the mixed frame
+        :math:`G = ({}^W \mathbf{p}_{\text{CoM}}, [C])`, where :math:`[C] = [W]` if the
+        active velocity representation is either inertial-fixed or mixed,
+        and :math:`[C] = [B]` if the active velocity representation is body-fixed.
+    """
+
+    # Extract the linear component of the 6D average centroidal velocity.
+    # This is expressed in G[B] in body-fixed representation, and in G[W] in
+    # inertial-fixed or mixed representation.
+    G_vl_WG = average_centroidal_velocity(model=model, data=data)[0:3]
+
+    return G_vl_WG
+
+
+@jax.jit
+def centroidal_momentum(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Vector:
+    r"""
+    Compute the centroidal momentum of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The centroidal momentum of the model.
+
+    Note:
+        The centroidal momentum is expressed in the mixed frame
+        :math:`({}^W \mathbf{p}_{\text{CoM}}, [C])`, where :math:`C = W` if the
+        active velocity representation is either inertial-fixed or mixed,
+        and :math:`C = B` if the active velocity representation is body-fixed.
+    """
+
+    ν = data.generalized_velocity()
+    G_J = centroidal_momentum_jacobian(model=model, data=data)
+
+    return G_J @ ν
+
+
+@jax.jit
+def centroidal_momentum_jacobian(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Matrix:
+    r"""
+    Compute the Jacobian of the centroidal momentum of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The Jacobian of the centroidal momentum of the model.
+
+    Note:
+        The frame corresponding to the output representation of this Jacobian is either
+        :math:`G[W]`, if the active velocity representation is inertial-fixed or mixed,
+        or :math:`G[B]`, if the active velocity representation is body-fixed.
+
+    Note:
+        This Jacobian is also known in the literature as Centroidal Momentum Matrix.
+    """
+
+    # Compute the Jacobian of the total momentum with body-fixed output representation.
+    # We convert the output representation either to G[W] or G[B] below.
+    B_Jh = js.model.total_momentum_jacobian(
+        model=model, data=data, output_vel_repr=VelRepr.Body
+    )
+
+    W_H_B = data.base_transform()
+    B_H_W = jaxsim.math.Transform.inverse(W_H_B)
+
+    W_p_CoM = com_position(model=model, data=data)
+
+    match data.velocity_representation:
+        case VelRepr.Inertial | VelRepr.Mixed:
+            W_H_G = W_H_GW = jnp.eye(4).at[0:3, 3].set(W_p_CoM)
+        case VelRepr.Body:
+            W_H_G = W_H_GB = W_H_B.at[0:3, 3].set(W_p_CoM)
+        case _:
+            raise ValueError(data.velocity_representation)
+
+    # Compute the transform for 6D forces.
+    G_Xf_B = jaxsim.math.Adjoint.from_transform(transform=B_H_W @ W_H_G).T
+
+    return G_Xf_B @ B_Jh
+
+
+@jax.jit
+def locked_centroidal_spatial_inertia(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+):
+    """
+    Compute the locked centroidal spatial inertia of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The locked centroidal spatial inertia of the model.
+    """
+
+    with data.switch_velocity_representation(VelRepr.Body):
+        B_Mbb_B = js.model.locked_spatial_inertia(model=model, data=data)
+
+    W_H_B = data.base_transform()
+    W_p_CoM = com_position(model=model, data=data)
+
+    match data.velocity_representation:
+        case VelRepr.Inertial | VelRepr.Mixed:
+            W_H_G = W_H_GW = jnp.eye(4).at[0:3, 3].set(W_p_CoM)
+        case VelRepr.Body:
+            W_H_G = W_H_GB = W_H_B.at[0:3, 3].set(W_p_CoM)
+        case _:
+            raise ValueError(data.velocity_representation)
+
+    B_H_G = jaxlie.SE3.from_matrix(jaxsim.math.Transform.inverse(W_H_B) @ W_H_G)
+
+    B_Xv_G = B_H_G.adjoint()
+    G_Xf_B = B_Xv_G.transpose()
+
+    return G_Xf_B @ B_Mbb_B @ B_Xv_G
+
+
+@jax.jit
+def average_centroidal_velocity(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Vector:
+    r"""
+    Compute the average centroidal velocity of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The average centroidal velocity of the model.
+
+    Note:
+        The average velocity is expressed in the mixed frame
+        :math:`G = ({}^W \mathbf{p}_{\text{CoM}}, [C])`, where :math:`[C] = [W]` if the
+        active velocity representation is either inertial-fixed or mixed,
+        and :math:`[C] = [B]` if the active velocity representation is body-fixed.
+    """
+
+    ν = data.generalized_velocity()
+    G_J = average_centroidal_velocity_jacobian(model=model, data=data)
+
+    return G_J @ ν
+
+
+@jax.jit
+def average_centroidal_velocity_jacobian(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Matrix:
+    r"""
+    Compute the Jacobian of the average centroidal velocity of the model.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The Jacobian of the average centroidal velocity of the model.
+
+    Note:
+        The frame corresponding to the output representation of this Jacobian is either
+        :math:`G[W]`, if the active velocity representation is inertial-fixed or mixed,
+        or :math:`G[B]`, if the active velocity representation is body-fixed.
+    """
+
+    G_J = centroidal_momentum_jacobian(model=model, data=data)
+    G_Mbb = locked_centroidal_spatial_inertia(model=model, data=data)
+
+    return jnp.linalg.inv(G_Mbb) @ G_J

{jaxsim-0.2.dev191 → jaxsim-0.2.dev366}/src/jaxsim/api/common.py

@@ -1,6 +1,7 @@
 import abc
 import contextlib
 import dataclasses
+import enum
 import functools
 from typing import ContextManager
 
@@ -11,7 +12,6 @@ import jaxlie
 from jax_dataclasses import Static
 
 import jaxsim.typing as jtp
-from jaxsim.high_level.common import VelRepr
 from jaxsim.utils import JaxsimDataclass, Mutability
 
 try:
@@ -20,6 +20,17 @@ except ImportError:
     from typing_extensions import Self
 
 
+@enum.unique
+class VelRepr(enum.IntEnum):
+    """
+    Enumeration of all supported 6D velocity representations.
+    """
+
+    Body = enum.auto()
+    Mixed = enum.auto()
+    Inertial = enum.auto()
+
+
 @jax_dataclasses.pytree_dataclass
 class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
     """
@@ -59,7 +70,7 @@ class ModelDataWithVelocityRepresentation(JaxsimDataclass, abc.ABC):
             # We run this in a mutable context with restoration so that any exception
             # occurring, we restore the original object in case it was modified.
             with self.mutable_context(
-                mutability=self._mutability(), restore_after_exception=True
+                mutability=self.mutability(), restore_after_exception=True
             ):
                 yield self
 

jaxsim-0.2.dev366/src/jaxsim/api/contact.py

@@ -0,0 +1,271 @@
+import functools
+
+import jax
+import jax.numpy as jnp
+
+import jaxsim.api as js
+import jaxsim.rbda
+import jaxsim.typing as jtp
+
+from .common import VelRepr
+
+
+@jax.jit
+def collidable_point_kinematics(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> tuple[jtp.Matrix, jtp.Matrix]:
+    """
+    Compute the position and 3D velocity of the collidable points in the world frame.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The position and velocity of the collidable points in the world frame.
+
+    Note:
+        The collidable point velocity is the plain coordinate derivative of the position.
+        If we attach a frame C = (p_C, [C]) to the collidable point, it corresponds to
+        the linear component of the mixed 6D frame velocity.
+    """
+
+    from jaxsim.rbda import collidable_points
+
+    with data.switch_velocity_representation(VelRepr.Inertial):
+        W_p_Ci, W_ṗ_Ci = collidable_points.collidable_points_pos_vel(
+            model=model,
+            base_position=data.base_position(),
+            base_quaternion=data.base_orientation(dcm=False),
+            joint_positions=data.joint_positions(model=model),
+            base_linear_velocity=data.base_velocity()[0:3],
+            base_angular_velocity=data.base_velocity()[3:6],
+            joint_velocities=data.joint_velocities(model=model),
+        )
+
+    return W_p_Ci, W_ṗ_Ci
+
+
+@jax.jit
+def collidable_point_positions(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Matrix:
+    """
+    Compute the position of the collidable points in the world frame.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The position of the collidable points in the world frame.
+    """
+
+    return collidable_point_kinematics(model=model, data=data)[0]
+
+
+@jax.jit
+def collidable_point_velocities(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Matrix:
+    """
+    Compute the 3D velocity of the collidable points in the world frame.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The 3D velocity of the collidable points.
+    """
+
+    return collidable_point_kinematics(model=model, data=data)[1]
+
+
+@jax.jit
+def collidable_point_forces(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> jtp.Matrix:
+    """
+    Compute the 6D forces applied to each collidable point.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The 6D forces applied to each collidable point expressed in the frame
+        corresponding to the active representation.
+    """
+
+    f_Ci, _ = collidable_point_dynamics(model=model, data=data)
+
+    return f_Ci
+
+
+@jax.jit
+def collidable_point_dynamics(
+    model: js.model.JaxSimModel, data: js.data.JaxSimModelData
+) -> tuple[jtp.Matrix, jtp.Matrix]:
+    r"""
+    Compute the 6D force applied to each collidable point and the corresponding
+    material deformation rate.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+
+    Returns:
+        The 6D force applied to each collidable point and the corresponding
+        material deformation rate.
+
+    Note:
+        The material deformation rate is always returned in the mixed frame
+        `C[W] = ({}^W \mathbf{p}_C, [W])`. This is convenient for integration purpose.
+        Instead, the 6D forces are returned in the active representation.
+    """
+
+    # Compute the position and linear velocities (mixed representation) of
+    # all collidable points belonging to the robot.
+    W_p_Ci, W_ṗ_Ci = js.contact.collidable_point_kinematics(model=model, data=data)
+
+    # Build the soft contact model.
+    soft_contacts = jaxsim.rbda.SoftContacts(
+        parameters=data.soft_contacts_params, terrain=model.terrain
+    )
+
+    # Compute the 6D force expressed in the inertial frame and applied to each
+    # collidable point, and the corresponding material deformation rate.
+    # Note that the material deformation rate is always returned in the mixed frame
+    # C[W] = (W_p_C, [W]). This is convenient for integration purpose.
+    W_f_Ci, CW_ṁ = jax.vmap(soft_contacts.contact_model)(
+        W_p_Ci, W_ṗ_Ci, data.state.soft_contacts.tangential_deformation
+    )
+
+    # Convert the 6D forces to the active representation.
+    f_Ci = jax.vmap(
+        lambda W_f_C: data.inertial_to_other_representation(
+            array=W_f_C,
+            other_representation=data.velocity_representation,
+            transform=data.base_transform(),
+            is_force=True,
+        )
+    )(W_f_Ci)
+
+    return f_Ci, CW_ṁ
+
+
+@functools.partial(jax.jit, static_argnames=["link_names"])
+def in_contact(
+    model: js.model.JaxSimModel,
+    data: js.data.JaxSimModelData,
+    *,
+    link_names: tuple[str, ...] | None = None,
+) -> jtp.Vector:
+    """
+    Return whether the links are in contact with the terrain.
+
+    Args:
+        model: The model to consider.
+        data: The data of the considered model.
+        link_names:
+            The names of the links to consider. If None, all links are considered.
+
+    Returns:
+        A boolean vector indicating whether the links are in contact with the terrain.
+    """
+
+    link_names = link_names if link_names is not None else model.link_names()
+
+    if set(link_names).difference(model.link_names()):
+        raise ValueError("One or more link names are not part of the model")
+
+    W_p_Ci = collidable_point_positions(model=model, data=data)
+
+    terrain_height = jax.vmap(lambda x, y: model.terrain.height(x=x, y=y))(
+        W_p_Ci[:, 0], W_p_Ci[:, 1]
+    )
+
+    below_terrain = W_p_Ci[:, 2] <= terrain_height
+
+    links_in_contact = jax.vmap(
+        lambda link_index: jnp.where(
+            jnp.array(model.kin_dyn_parameters.contact_parameters.body) == link_index,
+            below_terrain,
+            jnp.zeros_like(below_terrain, dtype=bool),
+        ).any()
+    )(js.link.names_to_idxs(link_names=link_names, model=model))
+
+    return links_in_contact
+
+
+@jax.jit
+def estimate_good_soft_contacts_parameters(
+    model: js.model.JaxSimModel,
+    *,
+    standard_gravity: jtp.FloatLike = jaxsim.math.StandardGravity,
+    static_friction_coefficient: jtp.FloatLike = 0.5,
+    number_of_active_collidable_points_steady_state: jtp.IntLike = 1,
+    damping_ratio: jtp.FloatLike = 1.0,
+    max_penetration: jtp.FloatLike | None = None,
+) -> jaxsim.rbda.soft_contacts.SoftContactsParams:
+    """
+    Estimate good soft contacts parameters for the given model.
+
+    Args:
+        model: The model to consider.
+        standard_gravity: The standard gravity constant.
+        static_friction_coefficient: The static friction coefficient.
+        number_of_active_collidable_points_steady_state:
+            The number of active collidable points in steady state supporting
+            the weight of the robot.
+        damping_ratio: The damping ratio.
+        max_penetration:
+            The maximum penetration allowed in steady state when the robot is
+            supported by the configured number of active collidable points.
+
+    Returns:
+        The estimated good soft contacts parameters.
+
+    Note:
+        This method provides a good starting point for the soft contacts parameters.
+        The user is encouraged to fine-tune the parameters based on the
+        specific application.
+    """
+
+    def estimate_model_height(model: js.model.JaxSimModel) -> jtp.Float:
+        """"""
+
+        zero_data = js.data.JaxSimModelData.build(
+            model=model,
+            soft_contacts_params=jaxsim.rbda.soft_contacts.SoftContactsParams(),
+        )
+
+        W_pz_CoM = js.com.com_position(model=model, data=zero_data)[2]
+
+        if model.floating_base():
+            W_pz_C = collidable_point_positions(model=model, data=zero_data)[:, -1]
+            return 2 * (W_pz_CoM - W_pz_C.min())
+
+        return 2 * W_pz_CoM
+
+    max_δ = (
+        max_penetration
+        if max_penetration is not None
+        else 0.005 * estimate_model_height(model=model)
+    )
+
+    nc = number_of_active_collidable_points_steady_state
+
+    sc_parameters = (
+        jaxsim.rbda.soft_contacts.SoftContactsParams.build_default_from_jaxsim_model(
+            model=model,
+            standard_gravity=standard_gravity,
+            static_friction_coefficient=static_friction_coefficient,
+            max_penetration=max_δ,
+            number_of_active_collidable_points_steady_state=nc,
+            damping_ratio=damping_ratio,
+        )
+    )
+
+    return sc_parameters