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[Sprint] Avoid evaluation of branches leading to NaNs in the optimizer #362

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[Sprint] Avoid evaluation of branches leading to NaNs in the optimizer #362

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flferretti
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@flferretti flferretti commented Jan 30, 2025 •
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This PR fixes AD integration tests by preventing the optimizer from evaluating branches that could lead to NaN values by implementing checks and restructuring the optimization process. This change enhances stability during optimization.

📚 Documentation preview 📚: https://jaxsim--362.org.readthedocs.build//362/

younik and others added 30 commits January 20, 2025 14:05
@younik
erase integrators
7911bbb
@younik
fix import
3642e9a
@younik
remotveintegrators
88395a4
@younik
restore heun2 integrator
55f5c4a
@younik
tentative change
002ad30
@CarlottaSartore
adding quaternion integration from axis angle
f019cba
@CarlottaSartore
improve semi implicit euler and add velocity representation
054107b
@younik
tentative fix
342f788
@flferretti
Pass link and joint forces to js.ode.system_dynamics
d7cde88
@younik
fix tests but one
deb9378
@flferretti
Fix position derivative extraction in semi-implicit Euler
42e2c77
@flferretti @xela-95
Add pytest-benchmark in environment YAML
2091bd0
@xela-95
Remove rigid.py
68560c7
@xela-95
Remove soft.py
9e22325
@xela-95
Remove visco_elastic.py
f7a37d1
@xela-95
Remove commented note about default contact model in JaxSimModel
67615ac
@xela-95
Update jaxsim.rbda.contacts.__init__.py
ef8c4b6
@xela-95
Add _hunt_crossley_contact_model to initialize RelaxedRigidContacts
ebe90de 
Previously part of SoftContacts
@xela-95
Refactor contact.py to use only RelaxedRigidContacts
5f337dc
@xela-95
Update JaxSimModel to use only RelaxedRigidContacts
0a7bd9f
@xela-95
Update JaxSimModelData to use only RelaxedRigidContacts
20078a7
@xela-95
Refactor ode.py to simplify system_dynamics and `system_velocity_…
696bd55 
…dynamics`
@xela-95
Remove unused soft contacts test and related parameters from automati…
e40d796 
…c differentiation tests
@xela-95
Refactor simulation tests to remove soft contacts and streamline cont…
f9627ad 
…act model handling
@xela-95
Create contact_model.py to contain all functions related to contact…
42e86b8 
… model handling

comodo walking working, no unit tests tried
@xela-95
Add contact_model __init__.py
d38a1a8
@xela-95
Remove collidable_point_dynamics function from contact module
b48e7f8
@xela-95
Remove link_contact_forces function from model API
f7aa6a7
@xela-95
Remove compute_link_contact_forces and link_forces_from_contact_force…
2a0903b 
…s methods from ContactModel
@xela-95
Update link_contact_forces reference to use contact_model module
7be7794
xela-95 and others added 22 commits January 23, 2025 16:30
@xela-95
Refactor test_box_with_zero_gravity to use only `jaxsim.VelRepr.Ine…
e9ad2f1 
…rtial`
@xela-95
Rename joint_force_references to joint_torques in `link_contact_f…
12f2019 
…orces` function
@xela-95
Update step function changing order of torques and link forces comp…
096a5f4 
…utation
@xela-95
Rename link_forces parameter to link_forces_inertial in step fu…
cd2381a 
…nction for clarity
@xela-95
Merge pull request #350 from ami-iit/sprint/day4-xela95
976ff4a 
[Sprint] Refactor step function
@xela-95
Add data.switch in semi_implicit_euler_integration
6e23c12
@xela-95
Refactor link_contact_forces function by removing unused kwargs and…
0f5f298 
… clarifying parameter descriptions
@xela-95
Fix call to link_contact_forces in step
563f33a
@CarlottaSartore
Merge pull request #353 from ami-iit/sprint/fix-xela95
15e402e 
[Sprint] Fix missing change of data representation
@younik @xela-95
fix device transfers
5af6b84
@flferretti @xela-95
Disable exceptions by default
15e31c7
@flferretti @xela-95
Change flag name to enable exceptions
e974a30
@flferretti @xela-95
Enable exceptions in tests
56d080e
@flferretti @xela-95
Fix argument name in AD integration test
478660b
@flferretti
Save time_step and reduced joint positions as float
7aff901
@flferretti
Merge pull request #352 from ami-iit/sprint/gpu-transfert
ccb7f27 
[Sprint] Fix device transfer and exceptions handling
@xela-95
Fix missing switch to mixed in RelaxedRigidContacts `compute_contact_…
8cf5fb2 
…forces`
@xela-95 @flferretti
Update src/jaxsim/rbda/contacts/relaxed_rigid.py
17264a8 
Co-authored-by: Filippo Luca Ferretti <[email protected]>
@xela-95
Merge pull request #356 from ami-iit/sprint/fix-relaxed-contacts
060f14b 
[Sprint] Fix missing switch in RelaxedRigidContacts `compute_contact_forces`
@flferretti
Reintroduce soft, viscoelastic and rigid contact models
487b14b 
This reverts commit 9408f74.
@flferretti
Streamline new API changes to alternative contact models
82e8d9f
@flferretti
Avoid evaluation of branches leading to NaNs in the optimizer
1f24739
@flferretti flferretti changed the title Avoid evaluation of branches leading to NaNs in the optimizer [Sprint] Avoid evaluation of branches leading to NaNs in the optimizer Jan 30, 2025
@flferretti flferretti self-assigned this Jan 30, 2025
Base automatically changed from sprint/dev to main February 4, 2025 16:01
@flferretti
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Closed by #367

@flferretti flferretti closed this Feb 7, 2025
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@younik younik Awaiting requested review from younik

@CarlottaSartore CarlottaSartore Awaiting requested review from CarlottaSartore

@xela-95 xela-95 Awaiting requested review from xela-95 xela-95 will be requested when the pull request is marked ready for review xela-95 is a code owner

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@flferretti @younik @CarlottaSartore @xela-95