Alessio Quaglino 8ca51b5318 Backtracking line search for SDF collisions. ...

Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.

This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.

PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752

2023-11-20 06:33:01 -08:00

..

elasticity

Add defaults to SDF plugin attributes.

2023-10-30 03:09:25 -07:00

sdf

Backtracking line search for SDF collisions.

2023-11-20 06:33:01 -08:00

sensor

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -07:00