Snapshots of a robotic simulation using our multicontact solver. Top: Bolt-nut assembly. Bottom: dish piling. Although intensive contact formation and stiff interactions make these scenarios challenging to simulate, our solvers successfully complete the simulations less than a ms of time budget per step.

Introducing CANAL & SubADMM, new multi-contact solvers based on augmented Lagrangian: CANAL for high-precision contact resolution; SubADMM for massively parallel hardware. They improve simulation accuracy & speed
https://ieeexplore.ieee.org/document/11027548

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