Fix simulation test with relaxed rigid contact model #294
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
diegoferigo
reviewed
Nov 22, 2024
|
Thanks @xela-95 and @diegoferigo, I'll change the |
flferretti
force-pushed
the
293-test-test_simulation_with_relaxed_rigid_contacts-failing
branch
3 times, most recently
from
249d345 to
d6cd3fb
Compare
flferretti
force-pushed
the
293-test-test_simulation_with_relaxed_rigid_contacts-failing
branch
from
d6cd3fb to
cd8b0b0
Compare
xela-95
approved these changes
Dec 3, 2024
flferretti
force-pushed
the
293-test-test_simulation_with_relaxed_rigid_contacts-failing
branch
from
cd8b0b0 to
2f37997
Compare
flferretti
deleted the
293-test-test_simulation_with_relaxed_rigid_contacts-failing
branch
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR fixes the simulation test with the relaxed rigid contact model by replacing the mass matrix inversion method with
linalg.invfor accuracy and by using a non-linear Hunt-Crossley model to reduce the drifts in the tangential directions📚 Documentation preview 📚: https://jaxsim--294.org.readthedocs.build//294/