Make build_default_from_jaxsim_model compatible with all models

src/jaxsim/rbda/contacts/common.py

@@ -95,6 +95,7 @@ def build_default_from_jaxsim_model(
         damping_ratio: jtp.FloatLike = 1.0,
         p: jtp.FloatLike = 0.5,
         q: jtp.FloatLike = 0.5,
+        **kwargs,
     ) -> Self:
         """
         Create a `ContactsParams` instance with default parameters.
@@ -111,6 +112,7 @@ def build_default_from_jaxsim_model(
             damping_ratio: The damping ratio.
             p: The first parameter of the contact model.
             q: The second parameter of the contact model.
+            **kwargs: Optional additional arguments.
 
         Returns:
             The `ContactsParams` instance.
@@ -157,6 +159,7 @@ def build_default_from_jaxsim_model(
             mu=μc,
             p=p,
             q=q,
+            **kwargs,
         )
 
     @abc.abstractmethod

src/jaxsim/rbda/contacts/relaxed_rigid.py

@@ -64,12 +64,12 @@ class RelaxedRigidContactsParams(common.ContactsParams):
     )
 
     # Stiffness
-    stiffness: jtp.Float = dataclasses.field(
+    K: jtp.Float = dataclasses.field(
         default_factory=lambda: jnp.array(0.0, dtype=float)
     )
 
     # Damping
-    damping: jtp.Float = dataclasses.field(
+    D: jtp.Float = dataclasses.field(
         default_factory=lambda: jnp.array(0.0, dtype=float)
     )
 
@@ -90,8 +90,8 @@ def __hash__(self) -> int:
                 HashedNumpyArray(self.width),
                 HashedNumpyArray(self.midpoint),
                 HashedNumpyArray(self.power),
-                HashedNumpyArray(self.stiffness),
-                HashedNumpyArray(self.damping),
+                HashedNumpyArray(self.K),
+                HashedNumpyArray(self.D),
                 HashedNumpyArray(self.mu),
             )
         )
@@ -110,9 +110,10 @@ def build(
         width: jtp.FloatLike | None = None,
         midpoint: jtp.FloatLike | None = None,
         power: jtp.FloatLike | None = None,
-        stiffness: jtp.FloatLike | None = None,
-        damping: jtp.FloatLike | None = None,
+        K: jtp.FloatLike | None = None,
+        D: jtp.FloatLike | None = None,
         mu: jtp.FloatLike | None = None,
+        **kwargs,
     ) -> Self:
         """Create a `RelaxedRigidContactsParams` instance."""
 
@@ -151,13 +152,11 @@ def default(name: str):
             power=jnp.array(
                 power if power is not None else default("power"), dtype=float
             ),
-            stiffness=jnp.array(
-                stiffness if stiffness is not None else default("stiffness"),
+            K=jnp.array(
+                K if K is not None else default("K"),
                 dtype=float,
             ),
-            damping=jnp.array(
-                damping if damping is not None else default("damping"), dtype=float
-            ),
+            D=jnp.array(D if D is not None else default("D"), dtype=float),
             mu=jnp.array(mu if mu is not None else default("mu"), dtype=float),
         )
 
@@ -505,8 +504,8 @@ def _regularizers(
                 "width",
                 "midpoint",
                 "power",
-                "stiffness",
-                "damping",
+                "K",
+                "D",
                 "mu",
             )
         )

src/jaxsim/rbda/contacts/soft.py

@@ -76,6 +76,7 @@ def build(
         mu: jtp.FloatLike = 0.5,
         p: jtp.FloatLike = 0.5,
         q: jtp.FloatLike = 0.5,
+        **kwargs,
     ) -> Self:
         """
         Create a SoftContactsParams instance with specified parameters.
@@ -90,6 +91,7 @@ def build(
             q:
                 The exponent q corresponding to the spring-related non-linearity
                 of the Hunt/Crossley model
+            **kwargs: Additional parameters to pass to the contact model.
 
         Returns:
             A SoftContactsParams instance with the specified parameters.