jaxsim 0.5.1.dev24__tar.gz → 0.5.1.dev37__tar.gz

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev24
+Version: 0.5.1.dev37
 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-0.5.1.dev24 → jaxsim-0.5.1.dev37}/examples/jaxsim_as_physics_engine.ipynb

@@ -204,27 +204,25 @@
     "with model.editable(validate=False) as model:\n",
     "\n",
     "    # The SoftContacts class can be replaced with a different contact model.\n",
-    "    model.contact_model = jaxsim.rbda.contacts.SoftContacts.build(\n",
-    "        # JaxSim provides the following helper that estimates good contact\n",
-    "        # parameters. While they might not be optimal, usually are a good\n",
-    "        # starting point. Users are encouraged to fine-tune them.\n",
-    "        parameters=js.contact.estimate_good_contact_parameters(\n",
-    "            model=model,\n",
-    "            number_of_active_collidable_points_steady_state=4,\n",
-    "            max_penetration=0.001,\n",
-    "        )\n",
-    "    )\n",
+    "    model.contact_model = jaxsim.rbda.contacts.SoftContacts.build()\n",
+    "\n",
+    "# JaxSim provides the following helper that estimates good contact\n",
+    "# parameters. While they might not be optimal, usually are a good\n",
+    "# starting point. Users are encouraged to fine-tune them.\n",
+    "contacts_params = js.contact.estimate_good_contact_parameters(\n",
+    "    model=model,\n",
+    "    number_of_active_collidable_points_steady_state=4,\n",
+    "    max_penetration=0.001,\n",
+    ")\n",
     "\n",
     "# Print the contact parameters.\n",
     "# Note that these parameters are the nominal parameters shared among\n",
     "# all parallel instances. If needed, they can be overridden in the\n",
     "# vectorized data object that will be created later.\n",
-    "print(model.contact_model.parameters)\n",
+    "print(contacts_params)\n",
     "\n",
     "# Update the data object with the new contact model parameters.\n",
-    "data_single = data_single.replace(\n",
-    "    contacts_params=model.contact_model.parameters, validate=False\n",
-    ")"
+    "data_single = data_single.replace(contacts_params=contacts_params, validate=False)"
    ]
   },
   {
@@ -297,6 +295,7 @@
     "        base_pos_bounds=([0, 0, 0.3], [0, 0, 0.6]),\n",
     "        base_vel_lin_bounds=(0, 0),\n",
     "        base_vel_ang_bounds=(0, 0),\n",
+    "        contacts_params=contacts_params,\n",
     "    )\n",
     ")(jnp.vstack(subkeys))\n",
     "\n",
@@ -455,7 +454,7 @@
    "toc_visible": true
   },
   "kernelspec": {
-   "display_name": "jaxsim",
+   "display_name": "rsl",
    "language": "python",
    "name": "python3"
   },

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.5.1.dev24'
-__version_tuple__ = version_tuple = (0, 5, 1, 'dev24')
+__version__ = version = '0.5.1.dev37'
+__version_tuple__ = version_tuple = (0, 5, 1, 'dev37')

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/api/contact.py

@@ -374,13 +374,7 @@ def estimate_good_contact_parameters(
                 max_penetration=max_δ,
                 number_of_active_collidable_points_steady_state=nc,
                 damping_ratio=damping_ratio,
-                **(
-                    dict(
-                        p=model.contact_model.parameters.p,
-                        q=model.contact_model.parameters.q,
-                    )
-                    | kwargs
-                ),
+                **kwargs,
             )
 
         case contacts.ViscoElasticContacts():
@@ -394,13 +388,7 @@ def estimate_good_contact_parameters(
                     max_penetration=max_δ,
                     number_of_active_collidable_points_steady_state=nc,
                     damping_ratio=damping_ratio,
-                    **(
-                        dict(
-                            p=model.contact_model.parameters.p,
-                            q=model.contact_model.parameters.q,
-                        )
-                        | kwargs
-                    ),
+                    **kwargs,
                 )
             )
 

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/api/data.py

@@ -230,7 +230,7 @@ class JaxSimModelData(common.ModelDataWithVelocityRepresentation):
                 )
 
             else:
-                contacts_params = model.contact_model.parameters
+                contacts_params = model.contact_model._parameters_class()
 
         return JaxSimModelData(
             state=ode_state,
@@ -775,6 +775,7 @@ def random_model_data(
         jtp.FloatLike | Sequence[jtp.FloatLike],
         jtp.FloatLike | Sequence[jtp.FloatLike],
     ] = (-1.0, 1.0),
+    contacts_params: jaxsim.rbda.contacts.ContactsParams | None = None,
     standard_gravity_bounds: tuple[jtp.FloatLike, jtp.FloatLike] = (
         jaxsim.math.StandardGravity,
         jaxsim.math.StandardGravity,
@@ -797,6 +798,7 @@ def random_model_data(
         base_vel_lin_bounds: The bounds for the base linear velocity.
         base_vel_ang_bounds: The bounds for the base angular velocity.
         joint_vel_bounds: The bounds for the joint velocities.
+        contacts_params: The parameters of the contact model.
         standard_gravity_bounds: The bounds for the standard gravity.
 
     Returns:
@@ -886,4 +888,25 @@ def random_model_data(
             )
         )
 
+        if contacts_params is None:
+
+            if isinstance(
+                model.contact_model,
+                jaxsim.rbda.contacts.SoftContacts
+                | jaxsim.rbda.contacts.ViscoElasticContacts,
+            ):
+
+                random_data = random_data.replace(
+                    contacts_params=js.contact.estimate_good_contact_parameters(
+                        model=model, standard_gravity=random_data.gravity
+                    ),
+                    validate=False,
+                )
+
+            else:
+                random_data = random_data.replace(
+                    contacts_params=model.contact_model._parameters_class(),
+                    validate=False,
+                )
+
     return random_data

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/api/model.py

@@ -41,8 +41,7 @@ class JaxSimModel(JaxsimDataclass):
     )
 
     # Note that this is the default contact model.
-    # Its parameters, if any, are then overridden from those stored in JaxSimModelData.
-    contact_model: jaxsim.rbda.contacts.ContactModel | None = dataclasses.field(
+    contact_model: Static[jaxsim.rbda.contacts.ContactModel | None] = dataclasses.field(
         default=None, repr=False
     )
 
@@ -235,9 +234,7 @@ class JaxSimModel(JaxsimDataclass):
         contact_model = (
             contact_model
             if contact_model is not None
-            else jaxsim.rbda.contacts.SoftContacts.build(
-                terrain=terrain, parameters=None
-            )
+            else jaxsim.rbda.contacts.SoftContacts.build()
         )
 
         # Build the integrator if not provided.

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/rbda/contacts/common.py

@@ -95,30 +95,17 @@ class ContactsParams(JaxsimDataclass):
 class ContactModel(JaxsimDataclass):
     """
     Abstract class representing a contact model.
-
-    Attributes:
-        parameters: The parameters of the contact model.
-        terrain: The considered terrain.
     """
 
-    parameters: ContactsParams
-    terrain: jaxsim.terrain.Terrain
-
     @classmethod
     @abc.abstractmethod
     def build(
         cls: type[Self],
-        parameters: ContactsParams,
-        terrain: jaxsim.terrain.Terrain,
         **kwargs,
     ) -> Self:
         """
         Create a `ContactModel` instance with specified parameters.
 
-        Args:
-            parameters: The parameters of the contact model.
-            terrain: The considered terrain.
-
         Returns:
             The `ContactModel` instance.
         """
@@ -304,30 +291,21 @@ class ContactModel(JaxsimDataclass):
 
         return {}
 
-    def initialize_model_and_data(
-        self,
-        model: js.model.JaxSimModel,
-        data: js.data.JaxSimModelData,
-        validate: bool = True,
-    ) -> tuple[js.model.JaxSimModel, js.data.JaxSimModelData]:
+    @property
+    def _parameters_class(cls) -> type[ContactsParams]:
         """
-        Helper function to initialize the active model and data objects.
-
-        Args:
-            model: The robot model considered by the contact model.
-            data: The data of the considered robot model.
-            validate:
-                Whether to validate if the model and data objects have been
-                initialized with the current contact model.
+        Return the class of the contact parameters.
 
         Returns:
-            The initialized model and data objects.
+            The class of the contact parameters.
         """
-
-        with self.editable(validate=validate) as contact_model:
-            contact_model.parameters = data.contacts_params
-
-        with model.editable(validate=validate) as model_out:
-            model_out.contact_model = contact_model
-
-        return model_out, data
+        import importlib
+
+        return getattr(
+            importlib.import_module("jaxsim.rbda.contacts"),
+            (
+                cls.__name__ + "Params"
+                if isinstance(cls, type)
+                else cls.__class__.__name__ + "Params"
+            ),
+        )

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/rbda/contacts/relaxed_rigid.py

@@ -12,9 +12,7 @@ import optax
 import jaxsim.api as js
 import jaxsim.rbda.contacts
 import jaxsim.typing as jtp
-from jaxsim import logging
 from jaxsim.api.common import ModelDataWithVelocityRepresentation, VelRepr
-from jaxsim.terrain.terrain import FlatTerrain, Terrain
 
 from . import common
 
@@ -180,14 +178,6 @@ class RelaxedRigidContactsParams(common.ContactsParams):
 class RelaxedRigidContacts(common.ContactModel):
     """Relaxed rigid contacts model."""
 
-    parameters: RelaxedRigidContactsParams = dataclasses.field(
-        default_factory=RelaxedRigidContactsParams.build
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain.build
-    )
-
     _solver_options_keys: jax_dataclasses.Static[tuple[str, ...]] = dataclasses.field(
         default=("tol", "maxiter", "memory_size"), kw_only=True
     )
@@ -209,8 +199,6 @@ class RelaxedRigidContacts(common.ContactModel):
     @classmethod
     def build(
         cls: type[Self],
-        parameters: RelaxedRigidContactsParams | None = None,
-        terrain: Terrain | None = None,
         solver_options: dict[str, Any] | None = None,
         **kwargs,
     ) -> Self:
@@ -218,17 +206,12 @@ class RelaxedRigidContacts(common.ContactModel):
         Create a `RelaxedRigidContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the rigid contacts model.
-            terrain: The considered terrain.
             solver_options: The options to pass to the L-BFGS solver.
 
         Returns:
             The `RelaxedRigidContacts` instance.
         """
 
-        if len(kwargs) != 0:
-            logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
-
         # Get the default solver options.
         default_solver_options = dict(
             zip(cls._solver_options_keys, cls._solver_options_values, strict=True)
@@ -250,18 +233,9 @@ class RelaxedRigidContacts(common.ContactModel):
             ) from exc
 
         return cls(
-            parameters=(
-                parameters
-                if parameters is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            ),
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
             _solver_options_keys=tuple(solver_options.keys()),
             _solver_options_values=tuple(solver_options.values()),
+            **kwargs,
         )
 
     @jax.jit
@@ -289,12 +263,6 @@ class RelaxedRigidContacts(common.ContactModel):
             A tuple containing as first element the computed contact forces.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-        assert isinstance(data.contacts_params, RelaxedRigidContactsParams)
-
         link_forces = jnp.atleast_2d(
             jnp.array(link_forces, dtype=float).squeeze()
             if link_forces is not None

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/rbda/contacts/rigid.py

@@ -11,7 +11,6 @@ import jaxsim.api as js
 import jaxsim.typing as jtp
 from jaxsim import logging
 from jaxsim.api.common import ModelDataWithVelocityRepresentation, VelRepr
-from jaxsim.terrain import FlatTerrain, Terrain
 
 from . import common
 from .common import ContactModel, ContactsParams
@@ -92,14 +91,6 @@ class RigidContactsParams(ContactsParams):
 class RigidContacts(ContactModel):
     """Rigid contacts model."""
 
-    parameters: RigidContactsParams = dataclasses.field(
-        default_factory=RigidContactsParams
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain.build
-    )
-
     regularization_delassus: jax_dataclasses.Static[float] = dataclasses.field(
         default=1e-6, kw_only=True
     )
@@ -125,8 +116,6 @@ class RigidContacts(ContactModel):
     @classmethod
     def build(
         cls: type[Self],
-        parameters: RigidContactsParams | None = None,
-        terrain: Terrain | None = None,
         regularization_delassus: jtp.FloatLike | None = None,
         solver_options: dict[str, Any] | None = None,
         **kwargs,
@@ -135,8 +124,6 @@ class RigidContacts(ContactModel):
         Create a `RigidContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the rigid contacts model.
-            terrain: The considered terrain.
             regularization_delassus:
                 The regularization term to add to the diagonal of the Delassus matrix.
             solver_options: The options to pass to the QP solver.
@@ -169,16 +156,6 @@ class RigidContacts(ContactModel):
             ) from exc
 
         return cls(
-            parameters=(
-                parameters
-                if parameters is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            ),
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
             regularization_delassus=float(
                 regularization_delassus
                 if regularization_delassus is not None
@@ -186,6 +163,7 @@ class RigidContacts(ContactModel):
             ),
             _solver_options_keys=tuple(solver_options.keys()),
             _solver_options_values=tuple(solver_options.values()),
+            **kwargs,
         )
 
     @staticmethod
@@ -276,12 +254,6 @@ class RigidContacts(ContactModel):
             A tuple containing as first element the computed contact forces.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-        assert isinstance(data.contacts_params, RigidContactsParams)
-
         # Import qpax privately just in this method.
         import qpax
 

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/rbda/contacts/soft.py

@@ -12,7 +12,7 @@ import jaxsim.math
 import jaxsim.typing as jtp
 from jaxsim import logging
 from jaxsim.math import StandardGravity
-from jaxsim.terrain import FlatTerrain, Terrain
+from jaxsim.terrain import Terrain
 
 from . import common
 
@@ -194,19 +194,9 @@ class SoftContactsParams(common.ContactsParams):
 class SoftContacts(common.ContactModel):
     """Soft contacts model."""
 
-    parameters: SoftContactsParams = dataclasses.field(
-        default_factory=SoftContactsParams.build
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain.build
-    )
-
     @classmethod
     def build(
         cls: type[Self],
-        parameters: SoftContactsParams | None = None,
-        terrain: Terrain | None = None,
         model: js.model.JaxSimModel | None = None,
         **kwargs,
     ) -> Self:
@@ -214,8 +204,6 @@ class SoftContacts(common.ContactModel):
         Create a `SoftContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the soft contacts model.
-            terrain: The considered terrain.
             model:
                 The robot model considered by the contact model.
                 If passed, it is used to estimate good default parameters.
@@ -227,24 +215,7 @@ class SoftContacts(common.ContactModel):
         if len(kwargs) != 0:
             logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
 
-        # Build the contact parameters if not provided. Use the model to estimate
-        # good default parameters, if passed. Users can later override these default
-        # parameters with their own values -- possibly tuned better.
-        if parameters is None:
-            parameters = (
-                SoftContactsParams.build_default_from_jaxsim_model(model=model)
-                if model is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            )
-
-        return cls(
-            parameters=parameters,
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
-        )
+        return cls(**kwargs)
 
     @classmethod
     def zero_state_variables(cls, model: js.model.JaxSimModel) -> dict[str, jtp.Array]:
@@ -422,9 +393,9 @@ class SoftContacts(common.ContactModel):
 
         return W_f, ṁ
 
+    @staticmethod
     @jax.jit
     def compute_contact_forces(
-        self,
         model: js.model.JaxSimModel,
         data: js.data.JaxSimModelData,
     ) -> tuple[jtp.Matrix, dict[str, jtp.PyTree]]:
@@ -440,11 +411,6 @@ class SoftContacts(common.ContactModel):
             second element a dictionary with derivative of the material deformation.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-
         # Get the indices of the enabled collidable points.
         indices_of_enabled_collidable_points = (
             model.kin_dyn_parameters.contact_parameters.indices_of_enabled_collidable_points

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim/rbda/contacts/visco_elastic.py

@@ -15,7 +15,7 @@ import jaxsim.typing as jtp
 from jaxsim import logging
 from jaxsim.api.common import ModelDataWithVelocityRepresentation
 from jaxsim.math import StandardGravity
-from jaxsim.terrain import FlatTerrain, Terrain
+from jaxsim.terrain import Terrain
 
 from . import common
 from .soft import SoftContacts, SoftContactsParams
@@ -188,21 +188,11 @@ class ViscoElasticContactsParams(common.ContactsParams):
 class ViscoElasticContacts(common.ContactModel):
     """Visco-elastic contacts model."""
 
-    parameters: ViscoElasticContactsParams = dataclasses.field(
-        default_factory=ViscoElasticContactsParams
-    )
-
-    terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain
-    )
-
     max_squarings: jax_dataclasses.Static[int] = dataclasses.field(default=25)
 
     @classmethod
     def build(
         cls: type[Self],
-        parameters: SoftContactsParams | None = None,
-        terrain: Terrain | None = None,
         model: js.model.JaxSimModel | None = None,
         max_squarings: jtp.IntLike | None = None,
         **kwargs,
@@ -211,8 +201,6 @@ class ViscoElasticContacts(common.ContactModel):
         Create a `ViscoElasticContacts` instance with specified parameters.
 
         Args:
-            parameters: The parameters of the soft contacts model.
-            terrain: The considered terrain.
             model:
                 The robot model considered by the contact model.
                 If passed, it is used to estimate good default parameters.
@@ -226,23 +214,7 @@ class ViscoElasticContacts(common.ContactModel):
         if len(kwargs) != 0:
             logging.debug(msg=f"Ignoring extra arguments: {kwargs}")
 
-        # Build the contact parameters if not provided. Use the model to estimate
-        # good default parameters, if passed. Users can later override these default
-        # parameters with their own values -- possibly tuned better.
-        if parameters is None:
-            parameters = (
-                ViscoElasticContactsParams.build_default_from_jaxsim_model(model=model)
-                if model is not None
-                else cls.__dataclass_fields__["parameters"].default_factory()
-            )
-
         return cls(
-            parameters=parameters,
-            terrain=(
-                terrain
-                if terrain is not None
-                else cls.__dataclass_fields__["terrain"].default_factory()
-            ),
             max_squarings=int(
                 max_squarings
                 if max_squarings is not None
@@ -301,12 +273,6 @@ class ViscoElasticContacts(common.ContactModel):
             a dictionary of optional additional information.
         """
 
-        # Initialize the model and data this contact model is operating on.
-        # This will raise an exception if either the contact model or the
-        # contact parameters are not compatible.
-        model, data = self.initialize_model_and_data(model=model, data=data)
-        assert isinstance(data.contacts_params, ViscoElasticContactsParams)
-
         # Extract the indices corresponding to the enabled collidable points.
         indices_of_enabled_collidable_points = (
             model.kin_dyn_parameters.contact_parameters.indices_of_enabled_collidable_points

{jaxsim-0.5.1.dev24 → jaxsim-0.5.1.dev37}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: jaxsim
-Version: 0.5.1.dev24
+Version: 0.5.1.dev37
 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-0.5.1.dev24 → jaxsim-0.5.1.dev37}/tests/test_simulations.py

@@ -209,9 +209,7 @@ def test_simulation_with_soft_contacts(
 
     with model.editable(validate=False) as model:
 
-        model.contact_model = jaxsim.rbda.contacts.SoftContacts.build(
-            terrain=model.terrain,
-        )
+        model.contact_model = jaxsim.rbda.contacts.SoftContacts.build()
         # Enable a subset of the collidable points.
         enabled_collidable_points_mask = np.zeros(
             len(model.kin_dyn_parameters.contact_parameters.body), dtype=bool
@@ -261,9 +259,7 @@ def test_simulation_with_visco_elastic_contacts(
 
     with model.editable(validate=False) as model:
 
-        model.contact_model = jaxsim.rbda.contacts.ViscoElasticContacts.build(
-            terrain=model.terrain,
-        )
+        model.contact_model = jaxsim.rbda.contacts.ViscoElasticContacts.build()
 
     # Initialize the maximum penetration of each collidable point at steady state.
     max_penetration = 0.001
@@ -304,8 +300,6 @@ def test_simulation_with_rigid_contacts(
     with model.editable(validate=False) as model:
 
         model.contact_model = jaxsim.rbda.contacts.RigidContacts.build(
-            terrain=model.terrain,
-            parameters=jaxsim.rbda.contacts.RigidContactsParams.build(K=0.0),
             solver_options={"solver_tol": 1e-3},
         )
         # Enable a subset of the collidable points.
@@ -358,8 +352,6 @@ def test_simulation_with_relaxed_rigid_contacts(
     with model.editable(validate=False) as model:
 
         model.contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts.build(
-            terrain=model.terrain,
-            parameters=jaxsim.rbda.contacts.RelaxedRigidContactsParams.build(mu=0.001),
             solver_options={"tol": 1e-3},
         )
         # Enable a subset of the collidable points.
@@ -390,8 +382,10 @@ def test_simulation_with_relaxed_rigid_contacts(
         # gets broken if it is updated in the future.
         contacts_params=js.contact.estimate_good_contact_parameters(
             model=model,
+            static_friction_coefficient=0.001,
         ),
     )
+
     # ===========================================
     # Run the simulation and test the final state
     # ===========================================