Add flag to disable joint friction #465
Open
Conversation
This file contains hidden or 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
![github-actions[bot]](https://avatars.githubusercontent.com/in/15368?s=60&v=4){kind=small}
There was a problem hiding this comment.
Benchmark
| Benchmark suite | Current: 2d7f3fe | Previous: cb36385 | Ratio |
|---|---|---|---|
tests/test_benchmark.py::test_forward_dynamics_aba[1] |
389.38406527606395 iter/sec (stddev: 0.000008541688138190175) |
386.2552251710958 iter/sec (stddev: 0.00020833313469613508) |
0.99 |
tests/test_benchmark.py::test_forward_dynamics_aba[128] |
29.363416688876676 iter/sec (stddev: 0.00011472256890685029) |
25.623251572538486 iter/sec (stddev: 0.000628276488211365) |
0.87 |
tests/test_benchmark.py::test_free_floating_bias_forces[1] |
361.507590743151 iter/sec (stddev: 0.000008949168750666668) |
329.6208935032452 iter/sec (stddev: 0.00017678390636095912) |
0.91 |
tests/test_benchmark.py::test_free_floating_bias_forces[128] |
16.316994451368135 iter/sec (stddev: 0.000206848320019473) |
14.042023282252773 iter/sec (stddev: 0.0004701444679618353) |
0.86 |
tests/test_benchmark.py::test_forward_kinematics[1] |
456.36150470798736 iter/sec (stddev: 0.000007750144673649783) |
505.33330250290584 iter/sec (stddev: 0.00003595675660629741) |
1.11 |
tests/test_benchmark.py::test_forward_kinematics[128] |
31.899169516802758 iter/sec (stddev: 0.00011727238574123531) |
29.344980191633002 iter/sec (stddev: 0.00036979712165659257) |
0.92 |
tests/test_benchmark.py::test_free_floating_mass_matrix[1] |
183.31051782257921 iter/sec (stddev: 0.000045040779429697924) |
204.56693174871816 iter/sec (stddev: 0.0008038774133928276) |
1.12 |
tests/test_benchmark.py::test_free_floating_mass_matrix[128] |
177.2046283539999 iter/sec (stddev: 0.000030038286129303515) |
185.32420162463208 iter/sec (stddev: 0.001038192142422702) |
1.05 |
tests/test_benchmark.py::test_free_floating_jacobian[1] |
533.973127680934 iter/sec (stddev: 0.000007524560316569543) |
584.370298139834 iter/sec (stddev: 0.00001860199318220017) |
1.09 |
tests/test_benchmark.py::test_free_floating_jacobian[128] |
528.2777334257476 iter/sec (stddev: 0.000006114053714365089) |
544.3999181675149 iter/sec (stddev: 0.00023044493810550008) |
1.03 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[1] |
415.59082723556986 iter/sec (stddev: 0.000011752128520116807) |
410.73560028011394 iter/sec (stddev: 0.00022687143203532596) |
0.99 |
tests/test_benchmark.py::test_free_floating_jacobian_derivative[128] |
302.4950413840594 iter/sec (stddev: 0.000008453813511121021) |
199.38111540598362 iter/sec (stddev: 0.001457819036270435) |
0.66 |
tests/test_benchmark.py::test_soft_contact_model[1] |
352.29928275603106 iter/sec (stddev: 0.000008727561667439654) |
337.6366937284971 iter/sec (stddev: 0.00011127692295687577) |
0.96 |
tests/test_benchmark.py::test_soft_contact_model[128] |
29.85187305128929 iter/sec (stddev: 0.00008607250219281915) |
26.884777773429075 iter/sec (stddev: 0.0006199761164350777) |
0.90 |
tests/test_benchmark.py::test_rigid_contact_model[1] |
40.38111547047915 iter/sec (stddev: 0.000059288341361839524) |
31.251271243159007 iter/sec (stddev: 0.007996216837436577) |
0.77 |
tests/test_benchmark.py::test_rigid_contact_model[128] |
0.7260464373742284 iter/sec (stddev: 0.0001799556526772492) |
0.3460028427282277 iter/sec (stddev: 0.0005242995729556135) |
0.48 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[1] |
74.7167610122112 iter/sec (stddev: 0.00003247361368281182) |
79.40038194340299 iter/sec (stddev: 0.002071043703591531) |
1.06 |
tests/test_benchmark.py::test_relaxed_rigid_contact_model[128] |
6.397892757844144 iter/sec (stddev: 0.00021190074764006962) |
6.11243560362339 iter/sec (stddev: 0.0013425887323580527) |
0.96 |
tests/test_benchmark.py::test_simulation_step[1] |
69.3364470812819 iter/sec (stddev: 0.000031007481062940205) |
69.93411634859267 iter/sec (stddev: 0.0027247172648478526) |
1.01 |
tests/test_benchmark.py::test_simulation_step[128] |
5.398354206445405 iter/sec (stddev: 0.0003150641660148449) |
5.076712249345317 iter/sec (stddev: 0.00163782888871275) |
0.94 |
This comment was automatically generated by workflow using github-action-benchmark.
flferretti
force-pushed
the
disable_joint_friction
branch
from
ae1b016 to
2d7f3fe
Compare
| torque_max: jtp.Float = dataclasses.field(default=3000.0) # (Nm) | ||
| omega_th: jtp.Float = dataclasses.field(default=30.0) # (rad/s) | ||
| omega_max: jtp.Float = dataclasses.field(default=100.0) # (rad/s) | ||
| friction: Static[bool] = dataclasses.field(default=True) |
There was a problem hiding this comment.
maybe we can call it enable_friction or consider_friction ? to avoid misinterpretation of the value
xela-95
approved these changes
Sep 15, 2025
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 introduces a configuration option to disable joint friction in the actuation model.
Fix #455
📚 Documentation preview 📚: https://jaxsim--465.org.readthedocs.build//465/