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[BREAKING][MISC] Set default constraint solver tolerance based on floating-point precision. #2713

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Merged
duburcqa merged 2 commits into from
Apr 16, 2026
Merged

[BREAKING][MISC] Set default constraint solver tolerance based on floating-point precision. #2713

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67946aa
Set default constraint solver tolerance based on floating-point preci…
duburcqa Apr 14, 2026
fbaa8a2
Update tolerance docstring to reflect precision-dependent default.
duburcqa Apr 16, 2026
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4 changes: 4 additions & 0 deletions genesis/engine/solvers/rigid/rigid_solver.py
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Expand Up @@ -337,6 +337,10 @@ def build(self):
self.n_fixed_verts_ = max(1, self.n_fixed_verts)
self.n_candidate_equalities_ = max(1, self.n_equalities + self._options.max_dynamic_constraints)

# Resolve precision-dependent tolerance default
if self._options.tolerance is None:
self._options.tolerance = 1e-5 if gs.qd_float == qd.f32 else 1e-8
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super().build()

self._init_mass_mat()
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6 changes: 4 additions & 2 deletions genesis/options/solvers.py
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Expand Up @@ -435,7 +435,9 @@ class RigidOptions(Options):
iterations : int, optional
Number of iterations for the constraint solver. Defaults to 50.
tolerance : float, optional
Tolerance for the constraint solver. Defaults to 1e-6.
Tolerance for the constraint solver. If None, resolved based on the floating-point precision selected via
`gs.init(precision=...)`: 1e-5 for single precision ("32") and 1e-8 for double precision ("64"). Defaults
to None.
ls_iterations : int, optional
Number of line search iterations for the constraint solver. Defaults to 50.
ls_tolerance : float, optional
Expand Down Expand Up @@ -500,7 +502,7 @@ class RigidOptions(Options):
# constraint solver
constraint_solver: gs.constraint_solver = gs.constraint_solver.Newton
iterations: PositiveInt = 50
tolerance: PositiveFloat = 1e-6
tolerance: PositiveFloat | None = None
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ls_iterations: PositiveInt = 50
ls_tolerance: PositiveFloat = 1e-2
noslip_iterations: NonNegativeInt = 0
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