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Refactor contact models and update to latest JaxSim API #33

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Refactor contact models and update to latest JaxSim API #33

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a783f88
Remove viscous contact model
flferretti Feb 27, 2025
c522af5
Allow setting contact params
flferretti Feb 27, 2025
1c2d6df
Comply with latest API for `link_contact_forces`
flferretti Feb 27, 2025
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18 changes: 7 additions & 11 deletions examples/jaxsim_walking.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -273,7 +273,6 @@
" counter = 0\n",
" mpc_success = True\n",
" succeded_controller = True\n",
" contact_model_type = js.contact_model_type\n",
"\n",
" t = 0.0\n",
"\n",
Expand Down Expand Up @@ -361,10 +360,9 @@
" W_p_rf_sfp_log.append(rf_sfp.transform.translation())\n",
" W_p_CoM_tsid_log.append(tsid.COM.toNumPy())\n",
" wall_time_step_log.append(toc * 1e3)\n",
" if contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
" f_lf_js, f_rf_js = js.feet_wrench\n",
" f_lf_js_log.append(f_lf_js)\n",
" f_rf_js_log.append(f_rf_js)\n",
" f_lf_js, f_rf_js = js.feet_wrench\n",
" f_lf_js_log.append(f_lf_js)\n",
" f_rf_js_log.append(f_rf_js)\n",
"\n",
" except Exception as e:\n",
" print(f\"Exception during simulation at time{t}: {e}\")\n",
Expand All @@ -387,9 +385,8 @@
" \"W_p_CoM_tsid\": np.array(W_p_CoM_tsid_log),\n",
" \"wall_time_step\": np.array(wall_time_step_log),\n",
" }\n",
" if contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
" logs[\"f_lf_js\"] = np.array(f_lf_js_log)\n",
" logs[\"f_rf_js\"] = np.array(f_rf_js_log)\n",
" logs[\"f_lf_js\"] = np.array(f_lf_js_log)\n",
" logs[\"f_rf_js\"] = np.array(f_rf_js_log)\n",
"\n",
" return logs"
]
Expand Down Expand Up @@ -436,9 +433,8 @@
"W_p_rf_sfp = logs[\"W_p_rf_sfp\"]\n",
"W_p_CoM_tsid = logs[\"W_p_CoM_tsid\"]\n",
"wall_time_step = logs[\"wall_time_step\"]\n",
"if js.contact_model_type != JaxsimContactModelEnum.VISCO_ELASTIC:\n",
" f_lf_js = logs[\"f_lf_js\"]\n",
" f_rf_js = logs[\"f_rf_js\"]"
"f_lf_js = logs[\"f_lf_js\"]\n",
"f_rf_js = logs[\"f_rf_js\"]"
]
},
{
Expand Down
53 changes: 21 additions & 32 deletions src/comodo/jaxsimSimulator/jaxsimSimulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,6 @@
class JaxsimContactModelEnum(enum.IntEnum):
RIGID = enum.auto()
RELAXED_RIGID = enum.auto()
VISCO_ELASTIC = enum.auto()
SOFT = enum.auto()


Expand Down Expand Up @@ -163,15 +162,22 @@ def load_model(
contact_model = jaxsim.rbda.contacts.RigidContacts.build()
case JaxsimContactModelEnum.RELAXED_RIGID:
contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts.build()
case JaxsimContactModelEnum.VISCO_ELASTIC:
contact_model = jaxsim.rbda.contacts.ViscoElasticContacts.build()
case JaxsimContactModelEnum.SOFT:
contact_model = jaxsim.rbda.contacts.SoftContacts.build()
case _:
raise ValueError(
f"Invalid contact model type: {self._contact_model_type}"
)

model = js.model.JaxSimModel.build_from_model_description(
model_description=robot_model.urdf_string,
model_name=robot_model.robot_name,
contact_model=contact_model,
contact_params=contact_params,
integrator=js.model.IntegratorType.RungeKutta4,
time_step=self._dt,
)

if contact_params is None:
match self._contact_model_type:
case JaxsimContactModelEnum.RIGID:
Expand All @@ -182,9 +188,9 @@ def load_model(
contact_params = (
jaxsim.rbda.contacts.RelaxedRigidContactsParams.build()
)
case JaxsimContactModelEnum.VISCO_ELASTIC | JaxsimContactModelEnum.SOFT:
case JaxsimContactModelEnum.SOFT:
contact_params = js.contact.estimate_good_contact_parameters(
model=self._model,
model=model,
number_of_active_collidable_points_steady_state=8,
max_penetration=0.002_5,
damping_ratio=1.0,
Expand All @@ -194,14 +200,8 @@ def load_model(
raise ValueError(
f"Invalid contact model type: {self._contact_model_type}"
)

model = js.model.JaxSimModel.build_from_model_description(
model_description=robot_model.urdf_string,
model_name=robot_model.robot_name,
contact_model=contact_model,
contact_params=contact_params,
time_step=self._dt,
)
with model.editable(validate=False) as model:
model.contacts_params = contact_params

self._model = js.model.reduce(
model=model,
Expand Down Expand Up @@ -304,24 +304,13 @@ def step(self, n_step: int = 1, *, dry_run=False) -> None:

for _ in range(n_step):

if self._contact_model_type is JaxsimContactModelEnum.VISCO_ELASTIC:

self._data = jaxsim.rbda.contacts.visco_elastic.step(
model=self._model,
data=self._data,
link_forces=None,
joint_force_references=self._tau,
)

else:

# All other contact models
self._data = js.model.step(
model=self._model,
data=self._data,
# link_forces=None,
joint_force_references=self._tau,
)
# All other contact models
self._data = js.model.step(
model=self._model,
data=self._data,
# link_forces=None,
joint_force_references=self._tau,
)

if not dry_run:
# Advance simulation time
Expand All @@ -346,7 +335,7 @@ def step(self, n_step: int = 1, *, dry_run=False) -> None:

with self._data.switch_velocity_representation(VelRepr.Mixed):

self._link_contact_forces = js.contact_model.link_contact_forces(
self._link_contact_forces, _ = js.contact.link_contact_forces(
model=self._model,
data=self._data,
joint_torques=self._tau,
Expand Down