jaxsim 0.6.2.dev228__tar.gz → 0.6.2.dev233__tar.gz

{jaxsim-0.6.2.dev228 → jaxsim-0.6.2.dev233}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev228
+Version: 0.6.2.dev233
 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-0.6.2.dev228 → jaxsim-0.6.2.dev233}/src/jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.6.2.dev228'
-__version_tuple__ = version_tuple = (0, 6, 2, 'dev228')
+__version__ = version = '0.6.2.dev233'
+__version_tuple__ = version_tuple = (0, 6, 2, 'dev233')

{jaxsim-0.6.2.dev228 → jaxsim-0.6.2.dev233}/src/jaxsim/rbda/contacts/relaxed_rigid.py

@@ -27,7 +27,7 @@ class RelaxedRigidContactsParams(common.ContactsParams):
 
     # Time constant
     time_constant: jtp.Float = dataclasses.field(
-        default_factory=lambda: jnp.array(0.01, dtype=float)
+        default_factory=lambda: jnp.array(0.02, dtype=float)
     )
 
     # Adimensional damping coefficient
@@ -47,17 +47,17 @@ class RelaxedRigidContactsParams(common.ContactsParams):
 
     # Width
     width: jtp.Float = dataclasses.field(
-        default_factory=lambda: jnp.array(0.0001, dtype=float)
+        default_factory=lambda: jnp.array(0.001, dtype=float)
     )
 
     # Midpoint
     midpoint: jtp.Float = dataclasses.field(
-        default_factory=lambda: jnp.array(0.1, dtype=float)
+        default_factory=lambda: jnp.array(0.5, dtype=float)
     )
 
     # Power exponent
     power: jtp.Float = dataclasses.field(
-        default_factory=lambda: jnp.array(1.0, dtype=float)
+        default_factory=lambda: jnp.array(2.0, dtype=float)
     )
 
     # Stiffness
@@ -72,7 +72,7 @@ class RelaxedRigidContactsParams(common.ContactsParams):
 
     # Friction coefficient
     mu: jtp.Float = dataclasses.field(
-        default_factory=lambda: jnp.array(0.5, dtype=float)
+        default_factory=lambda: jnp.array(0.005, dtype=float)
     )
 
     def __hash__(self) -> int:

{jaxsim-0.6.2.dev228 → jaxsim-0.6.2.dev233}/src/jaxsim/rbda/contacts/rigid.py

@@ -65,6 +65,7 @@ class RigidContactsParams(ContactsParams):
         mu: jtp.FloatLike | None = None,
         K: jtp.FloatLike | None = None,
         D: jtp.FloatLike | None = None,
+        **kwargs,
     ) -> Self:
         """Create a `RigidContactParams` instance."""
 

{jaxsim-0.6.2.dev228 → jaxsim-0.6.2.dev233}/src/jaxsim.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.6.2.dev228
+Version: 0.6.2.dev233
 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-0.6.2.dev228 → jaxsim-0.6.2.dev233}/tests/test_benchmark.py

@@ -106,6 +106,7 @@ def test_soft_contact_model(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.SoftContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.ode.system_dynamics, model, benchmark, batch_size)
 
@@ -118,6 +119,7 @@ def test_rigid_contact_model(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.RigidContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.ode.system_dynamics, model, benchmark, batch_size)
 
@@ -130,6 +132,7 @@ def test_relaxed_rigid_contact_model(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.ode.system_dynamics, model, benchmark, batch_size)
 
@@ -142,5 +145,6 @@ def test_simulation_step(
 
     with model.editable(validate=False) as model:
         model.contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts()
+        model.contact_params = js.contact.estimate_good_contact_parameters(model=model)
 
     benchmark_test_function(js.model.step, model, benchmark, batch_size)