jaxsim 0.7.1.dev50__tar.gz → 0.7.1.dev58__tar.gz

{jaxsim-0.7.1.dev50 → jaxsim-0.7.1.dev58}/.github/workflows/ci_cd.yml

@@ -83,7 +83,7 @@ jobs:
       - name: Install wheel (ubuntu)
         if: contains(matrix.os, 'ubuntu')
         shell: bash
-        run: pip install "$(find dist/ -type f -name '*.whl')[all]"
+        run: pip install "$(find dist/ -type f -name '*.whl')"
 
       - name: Install wheel (macos|windows)
         if: contains(matrix.os, 'macos') || contains(matrix.os, 'windows')
@@ -99,24 +99,28 @@ jobs:
 
       - uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          lfs: true
+
+      - uses: prefix-dev/setup-pixi@v0.8.5
+        if: contains(matrix.os, 'ubuntu')
+        with:
+          pixi-version: "latest"
+          frozen: true
+          cache: true
+          cache-write: ${{ github.event_name == 'push' && github.ref_name == 'main' }}
 
-      - name: Install 'gz sdf' system command
+      - name: Ensure version file is written
         if: |
           contains(matrix.os, 'ubuntu') &&
           (github.event_name != 'pull_request')
         run: |
-          sudo apt update && sudo apt install -y lsb-release wget
-          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-          wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-          sudo apt-get update
-          sudo apt install -y libsdformat14-dev libsdformat14
+          pixi run --frozen python -m setuptools_scm --force-write-version-file
 
       - name: Run the Python tests
         if: |
           contains(matrix.os, 'ubuntu') &&
           (github.event_name != 'pull_request')
-        run: pytest
+        run: pixi run --frozen test
         env:
           # https://github.com/pytest-dev/pytest/issues/7443#issuecomment-656642591
           PY_COLORS: "1"

{jaxsim-0.7.1.dev50 → jaxsim-0.7.1.dev58}/PKG-INFO

@@ -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 → jaxsim-0.7.1.dev58}/src/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-0.7.1.dev50 → jaxsim-0.7.1.dev58}/src/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-0.7.1.dev50 → jaxsim-0.7.1.dev58}/src/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 → jaxsim-0.7.1.dev58}/src/jaxsim.egg-info/PKG-INFO

@@ -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>