Decrease time step in shell examples.

Also add bending damping.

PiperOrigin-RevId: 796446515
Change-Id: I4744003caf6146e5e00614a6016d1a6dfc42cca7

model/flex/basket.xml

@@ -18,7 +18,7 @@
 
   <compiler autolimits="true"/>
 
-  <option solver="CG" tolerance="1e-6"/>
+  <option solver="CG" tolerance="1e-6" timestep="0.001"/>
 
   <size memory="10M"/>
 
@@ -30,8 +30,8 @@
     <flexcomp type="box" count="8 8 8" spacing=".1 .1 .1" pos="0 0 1"
               radius=".01" rgba=".68 .53 .38 1" name="box" dim="2" mass="0.25">
       <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-      <edge equality="true" damping="10"/>
-      <elasticity young="6e6" poisson="0.2" thickness="8e-3" elastic2d="bend"/>
+      <edge equality="true" damping="1"/>
+      <elasticity young="6e6" poisson="0.2" thickness="8e-3" elastic2d="bend" damping="1e-5"/>
     </flexcomp>
 
     <replicate count="3" offset=".2 0 0">

model/flex/poncho.xml

@@ -15,7 +15,7 @@
 
 <mujoco model="Poncho">
   <include file="mannequin.xml"/>
-  <option timestep="0.01" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
+  <option timestep="0.005" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
     <flag energy="enable"/>
   </option>