Allow to override joint friction coefficients during parsing #443
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Benchmark
| Benchmark suite | Current: 09dbc77 | Previous: 8d5c896 | Ratio |
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tests/test_benchmark.py::test_forward_dynamics_aba[1] |
33.732495725184535 iter/sec (stddev: 0.00019560899131016585) |
33.99270710150131 iter/sec (stddev: 0.00009160345295732999) |
1.01 |
tests/test_benchmark.py::test_forward_dynamics_aba[128] |
15.746604675985465 iter/sec (stddev: 0.00043086011544949483) |
15.450388973393041 iter/sec (stddev: 0.00039276707628969594) |
0.98 |
tests/test_benchmark.py::test_free_floating_bias_forces[1] |
27.300939408323607 iter/sec (stddev: 0.00017956622791729214) |
28.072185819254948 iter/sec (stddev: 0.0001405275314719085) |
1.03 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
11.348017004996896 iter/sec (stddev: 0.0007912682552996057) |
10.661461909768686 iter/sec (stddev: 0.0003774590436268307) |
0.94 |
tests/test_benchmark.py::test_forward_kinematics[1] |
78.30887709655238 iter/sec (stddev: 0.00007557007499027129) |
80.47867539657375 iter/sec (stddev: 0.0008406595365800215) |
1.03 |
tests/test_benchmark.py::test_forward_kinematics[128] |
24.36412968846077 iter/sec (stddev: 0.000733411705460884) |
22.963981536068786 iter/sec (stddev: 0.00018004443135162003) |
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tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
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tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
40.261883507735895 iter/sec (stddev: 0.00022866348995515085) |
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tests/test_benchmark.py::test_free_floating_jacobian[1] |
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tests/test_benchmark.py::test_free_floating_jacobian[128] |
53.09159022965794 iter/sec (stddev: 0.00019970672192801519) |
54.13600959838642 iter/sec (stddev: 0.0002066391631624143) |
1.02 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
31.317773074090745 iter/sec (stddev: 0.00020957412302644173) |
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tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
32.147702892446766 iter/sec (stddev: 0.00011626252227472205) |
32.8020875749547 iter/sec (stddev: 0.00027199927237599305) |
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tests/test_benchmark.py::test_soft_contact_model[1] |
29.687001824040674 iter/sec (stddev: 0.0002212059113671745) |
30.416550779490947 iter/sec (stddev: 0.00009594224392172117) |
1.02 |
tests/test_benchmark.py::test_soft_contact_model[128] |
14.223696422478216 iter/sec (stddev: 0.0003876691004434678) |
14.145201786398033 iter/sec (stddev: 0.0005232496065842119) |
0.99 |
tests/test_benchmark.py::test_rigid_contact_model[1] |
6.2382537646669745 iter/sec (stddev: 0.0008298066596855063) |
6.438860629793804 iter/sec (stddev: 0.00028284443651919447) |
1.03 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
0.8462676675800964 iter/sec (stddev: 0.0008152134258916299) |
0.8450260471582455 iter/sec (stddev: 0.0007584783160614406) |
1.00 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
5.757986514462311 iter/sec (stddev: 0.0005390561642124177) |
5.901695040090421 iter/sec (stddev: 0.0008691354003239028) |
1.02 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
3.3496305818642527 iter/sec (stddev: 0.0027458221108738324) |
3.3393481643233303 iter/sec (stddev: 0.0005133033064496388) |
1.00 |
tests/test_benchmark.py::test_simulation_step[1] |
4.6661891262854915 iter/sec (stddev: 0.0039160542655659585) |
4.792670117574774 iter/sec (stddev: 0.00041546735946859745) |
1.03 |
tests/test_benchmark.py::test_simulation_step[128] |
2.6434717793362177 iter/sec (stddev: 0.0006156978249948536) |
2.6082535675050296 iter/sec (stddev: 0.0013605955461495007) |
0.99 |
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This pull request introduces new configuration options for joint dynamics and updates the parser to utilize these options. The most important changes include adding environment variables for static and viscous friction coefficients and modifying the parser to use these variables as defaults.
Configuration Enhancements:
JAXSIM_JOINT_FRICTION_STATICandJAXSIM_JOINT_FRICTION_VISCOUS, which allow overriding the static and viscous friction coefficients for all joints. Both default to0.0. (docs/guide/configuration.rst, docs/guide/configuration.rstR50-R64)Parser Updates:
extract_model_datafunction inparser.pyto useJAXSIM_JOINT_FRICTION_STATICandJAXSIM_JOINT_FRICTION_VISCOUSas default values for static and viscous friction coefficients when joint dynamics data is unavailable. (src/jaxsim/parsers/rod/parser.py, src/jaxsim/parsers/rod/parser.pyL255-R262)📚 Documentation preview 📚: https://jaxsim--443.org.readthedocs.build//443/