Update README on integrators and contact models #375
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xela-95
approved these changes
Feb 19, 2025
CarlottaSartore
approved these changes
Feb 26, 2025
| function of the state $(\mathbf{q}, \boldsymbol{\nu})$, it doesn't require running any optimization algorithm | ||
| when stepping the simulation forward. | ||
| - JaxSim mitigates the stiffness of the contact-aware system dynamics by providing variable-step integrators. | ||
| - JaxSim experimentally supports variable-step integrators to mitigate the stiffness of the contact-aware system dynamics. |
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Did we re-introduce somewhere the variable step integator ? By looking at the other related PR I did not find it. Maybe we can directly remove this line for now
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This pull request updates the
README.mdfile:Warning
Requires #360
📚 Documentation preview 📚: https://jaxsim--375.org.readthedocs.build//375/