Open simulation accuracy tolerance parameters

Moby attempts to minimize the number of open accuracy and tolerance parameters used for simulation to reduce user effort to run and debug simulations.

Model accuracy parameters

• Friction cone edges: the default number of edges of a linearized friction cone for contacts is four. Higher values (multiples of four should be used) will yield more accurate frictional force approximations (at the expense of greater running time and reduced ability to solve the resulting linear complementarity problem/QP). Minimal value is four.

Simulation accuracy parameters

• Integration step size: the nominal integration step size (default 1e-3) allows one to specify a numerical integration step size that maximizes the user's desired tradeoff between accuracy, numerical stability, and running time