From 80df95c92abcf662cc81fabdba64b1b7fba82273 Mon Sep 17 00:00:00 2001 From: Johnson Wang Date: Sat, 11 Jan 2025 18:39:18 -0500 Subject: [PATCH] make rigid contact less stiff --- examples/tutorials/advanced_hybrid_robot.py | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/tutorials/advanced_hybrid_robot.py b/examples/tutorials/advanced_hybrid_robot.py index 0cb34d1d..19b78c7b 100644 --- a/examples/tutorials/advanced_hybrid_robot.py +++ b/examples/tutorials/advanced_hybrid_robot.py @@ -21,6 +21,7 @@ gravity=(0, 0, -9.8), enable_collision=True, enable_self_collision=False, + contact_resolve_time=0.02, # avoid the rigid contact solver being too stiff otherwise will cause large impulse (especially we have small dt for rigid solver) ), mpm_options=gs.options.MPMOptions( dt=dt,