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Decrease time step in shell examples.

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Also add bending damping.

PiperOrigin-RevId: 796446515
Change-Id: I4744003caf6146e5e00614a6016d1a6dfc42cca7
This commit is contained in:
Alessio Quaglino
2025-08-18 08:59:20 -07:00
committed by Copybara-Service
parent eed43f6982
commit c2ff60e630
3 changed files with 27 additions and 17 deletions
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model/flex/poncho.xml
+1 -1
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@@ -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>