jaxsim 0.7.1.dev50__py3-none-any.whl → 0.7.1.dev58__py3-none-any.whl

jaxsim/_version.py

@@ -17,5 +17,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.7.1.dev50'
-__version_tuple__ = version_tuple = (0, 7, 1, 'dev50')
+__version__ = version = '0.7.1.dev58'
+__version_tuple__ = version_tuple = (0, 7, 1, 'dev58')

jaxsim/api/contact.py

@@ -191,39 +191,22 @@ def estimate_good_contact_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:
-        """
-        Displacement between the CoM and the lowest collidable point using zero
-        joint positions.
-        """
-
-        zero_data = js.data.JaxSimModelData.build(
-            model=model,
-        )
-
+    if max_penetration is None:
+        zero_data = js.data.JaxSimModelData.build(model=model)
         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
+            W_pz_CoM = W_pz_CoM - W_pz_C.min()
 
-    max_δ = (
-        max_penetration
-        if max_penetration is not None
-        # Consider as default a 0.5% of the model height.
-        else 0.005 * estimate_model_height(model=model)
-    )
+        # Consider as default a 1% of the model center of mass height.
+        max_penetration = 0.01 * W_pz_CoM
 
     nc = number_of_active_collidable_points_steady_state
-
     return model.contact_model._parameters_class().build_default_from_jaxsim_model(
         model=model,
         standard_gravity=standard_gravity,
         static_friction_coefficient=static_friction_coefficient,
-        max_penetration=max_δ,
+        max_penetration=max_penetration,
         number_of_active_collidable_points_steady_state=nc,
         damping_ratio=damping_ratio,
     )

jaxsim/rbda/contacts/common.py

@@ -18,6 +18,10 @@ except ImportError:
     from typing_extensions import Self
 
 
+MAX_STIFFNESS = 1e6
+MAX_DAMPING = 1e4
+
+
 @functools.partial(jax.jit, static_argnames=("terrain",))
 def compute_penetration_data(
     p: jtp.VectorLike,
@@ -133,28 +137,30 @@ class ContactsParams(JaxsimDataclass):
         ξ = damping_ratio
         δ_max = max_penetration
         μc = static_friction_coefficient
+        nc = number_of_active_collidable_points_steady_state
 
         # Compute the total mass of the model.
         m = jnp.array(model.kin_dyn_parameters.link_parameters.mass).sum()
 
-        # Rename the standard gravity.
-        g = standard_gravity
-
-        # Compute the average support force on each collidable point.
-        f_average = m * g / number_of_active_collidable_points_steady_state
-
         # Compute the stiffness to get the desired steady-state penetration.
         # Note that this is dependent on the non-linear exponent used in
         # the damping term of the Hunt/Crossley model.
-        K = f_average / jnp.power(δ_max, 1 + p) if stiffness is None else stiffness
+        if stiffness is None:
+            # Compute the average support force on each collidable point.
+            f_average = m * standard_gravity / nc
+
+            stiffness = f_average / jnp.power(δ_max, 1 + p)
+            stiffness = jnp.clip(stiffness, 0, MAX_STIFFNESS)
 
         # Compute the damping using the damping ratio.
-        critical_damping = 2 * jnp.sqrt(K * m)
-        D = ξ * critical_damping if damping is None else damping
+        critical_damping = 2 * jnp.sqrt(stiffness * m)
+        if damping is None:
+            damping = ξ * critical_damping
+            damping = jnp.clip(damping, 0, MAX_DAMPING)
 
         return self.build(
-            K=K,
-            D=D,
+            K=stiffness,
+            D=damping,
             mu=μc,
             p=p,
             q=q,

{jaxsim-0.7.1.dev50.dist-info → jaxsim-0.7.1.dev58.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: jaxsim
-Version: 0.7.1.dev50
+Version: 0.7.1.dev58
 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-0.7.1.dev50.dist-info → jaxsim-0.7.1.dev58.dist-info}/RECORD

@@ -1,5 +1,5 @@
 jaxsim/__init__.py,sha256=EKeysKN-7UswwJLCl7n6qIBKQIVUtYsCMYu_tCoFn7g,3628
-jaxsim/_version.py,sha256=ET5trXW7kBSU7UaiUXZJnaNQlo8aw2r5saIY44gvtPc,526
+jaxsim/_version.py,sha256=qWp0ftHY1akpDRe3TY0zoRlTSYZebNkmND8lPzyhe5c,526
 jaxsim/exceptions.py,sha256=MQ3LRMfVMX2-g3qYj7mUVNV9OLlIA48TANJegbcQyXI,2641
 jaxsim/logging.py,sha256=STI-D_upXZYX-ZezLrlJJ0UlD5YspST0vZ_DcIwkzO4,1553
 jaxsim/typing.py,sha256=7msl8t5Jt09RNYfKdPJtpjLfWurldcycDappb045Eso,761
@@ -7,7 +7,7 @@ jaxsim/api/__init__.py,sha256=4skzcTTejLFfZ_JE6yEEyNxObpXnR5u-bYsn2lBEx-4,234
 jaxsim/api/actuation_model.py,sha256=GgLi-yhEpsczwhMNYIlMvet8tirmmED6S7AumbSbk4U,3705
 jaxsim/api/com.py,sha256=47a9SSaXY540RCkVnHodwLNUrodIfJIkguIYdSEQVwQ,13697
 jaxsim/api/common.py,sha256=yTaRXDYkXmISBOhZ93f9TssR0p4wq7qj7B6OsvYzRME,6942
-jaxsim/api/contact.py,sha256=dDk43M_0KtsWr0oH-92fy_hclwUjl3FUPOkGFUAhdYc,22392
+jaxsim/api/contact.py,sha256=H4ltV0RYv3AbaKPtu0pfyWhcsm4FiEBUEfBtpusEpHw,22087
 jaxsim/api/data.py,sha256=9pxug2gFIZPwqi9kNYXhEziA5IQBB9KNNwIfPfc_kAU,23249
 jaxsim/api/frame.py,sha256=4wg6GsyBQgYhSvc-ry_31JsaL66sZt3TtgwjB7NrHmk,14583
 jaxsim/api/integrators.py,sha256=sHdTWw2Z-Q7jggA8zRkA1KYYd4HNIozXPwNvFwt0YBs,9011
@@ -56,7 +56,7 @@ jaxsim/rbda/utils.py,sha256=6JwEDQqLMsBX7CUmPYEhdPEscXmGbWVYg6xEriPOgvE,5587
 jaxsim/rbda/actuation/__init__.py,sha256=zWqB8VBHadbyf8FAuhQtcfWdetGjfVxuNDwIeUqNOS4,36
 jaxsim/rbda/actuation/common.py,sha256=aGFqO4VTgQLsTJyOtVuoa_otT_RbkckmG3rq7wjOyB4,462
 jaxsim/rbda/contacts/__init__.py,sha256=resrBkTdOA-1YMdcdUH2RATEhAf_Ye6MQNtjG3ClMYQ,371
-jaxsim/rbda/contacts/common.py,sha256=qVm3Ghoytg1HAeykNrYw5-4rQJ4Mv7h0Pk75ETzGXyc,9045
+jaxsim/rbda/contacts/common.py,sha256=e-NDoC1N9PK5B0e1fQkYtxS495GSpRCGZRzB6-53WS4,9207
 jaxsim/rbda/contacts/relaxed_rigid.py,sha256=oBQV-oAbx6_D8xhddCRLbV5VV7Lz75levRS5mxBnYVg,25621
 jaxsim/rbda/contacts/rigid.py,sha256=I_TjsT-84ywou2idYioqekeQbIOHTdHI54vot8ijMPk,17605
 jaxsim/rbda/contacts/soft.py,sha256=a7NYMknPfWKfCdbVu83ttDu1u_gssIRvxe9L1622tM0,15284
@@ -66,8 +66,8 @@ jaxsim/utils/__init__.py,sha256=Y5zyoRevl3EMVQadhZ4EtSwTEkDt2vcnFoRhPJjKTZ0,215
 jaxsim/utils/jaxsim_dataclass.py,sha256=XzmZeIibcaOzaxpprsGSxH3UrM66PAO456rFV91sNXg,11453
 jaxsim/utils/tracing.py,sha256=Btwxdfhb7fJLk3r5PlQkGYj60Y2KbFT1gANGIA697FU,530
 jaxsim/utils/wrappers.py,sha256=3IMwydqFgmSPqeuUQ3PRmdhDc1IoT6XC23jPC_LjWXs,4175
-jaxsim-0.7.1.dev50.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
-jaxsim-0.7.1.dev50.dist-info/METADATA,sha256=qJncP4C5Bnenli1diqBdMGlZM3XLaE983_IXm4pfkZI,17851
-jaxsim-0.7.1.dev50.dist-info/WHEEL,sha256=zaaOINJESkSfm_4HQVc5ssNzHCPXhJm0kEUakpsEHaU,91
-jaxsim-0.7.1.dev50.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
-jaxsim-0.7.1.dev50.dist-info/RECORD,,
+jaxsim-0.7.1.dev58.dist-info/licenses/LICENSE,sha256=eaYdFmdeMbiIoIiPzEK0MjP1S9wtFXjXNR5er49uLR0,1546
+jaxsim-0.7.1.dev58.dist-info/METADATA,sha256=mcp6kvYpxFEyRoOqu8ZNOicZZ4E7sEux_deMzyehtSk,17851
+jaxsim-0.7.1.dev58.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+jaxsim-0.7.1.dev58.dist-info/top_level.txt,sha256=LxGMA8FLtXjQ6oI7N5gd_R_oSUHxpXxUEOfT1xS_ni0,7
+jaxsim-0.7.1.dev58.dist-info/RECORD,,

{jaxsim-0.7.1.dev50.dist-info → jaxsim-0.7.1.dev58.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.8.0)
+Generator: setuptools (80.9.0)
 Root-Is-Purelib: true
 Tag: py3-none-any