Use non-linear Hunt-Crossley model for warm start

ami-iit · Nov 22, 2024 · c7e4d00 · c7e4d00
1 parent deb4714
commit c7e4d00
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/jaxsim/rbda/contacts/relaxed_rigid.py b/src/jaxsim/rbda/contacts/relaxed_rigid.py
@@ -461,8 +461,8 @@ def continuing_criterion(carry: OptimizationCarry) -> jtp.Bool:
                 terrain=model.terrain,
                 K=1e6,
                 D=2e3,
-                p=0.0,
-                q=0.0,
+                p=0.5,
+                q=0.5,
                 # No tangential initial forces.
                 mu=0.0,
                 tangential_deformation=jnp.zeros(3),