Merge pull request #294 from ami-iit/293-test-test_simulation_with_re…

…laxed_rigid_contacts-failing
ami-iit · Dec 3, 2024 · d2cf220 · d2cf220
2 parents 3271052 + 2f37997
commit d2cf220
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),