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Description
Intro
My setup
What's happening? What did you expect?
I believe an abs() is missing here
mujoco/src/engine/engine_solver.c
Line 1824 in a8a9607
There are serious stability issues otherwise that can be seen in cases like throwing 10+ perfectly aligned cubes on top of each other.
Steps for reproduction
Minimal model for reproduction
No response
Code required for reproduction
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Confirmations
- I searched the latest documentation thoroughly before posting.
- I searched previous Issues and Discussions, I am certain this has not been raised before.