Fifty times the 1.4.4 default. On the sort-and-place apple sweep it is the only setting that, with a smaller substep, cuts apple-bowl contact losses from 19 to 6 of 480 resting steps; at the 1/300 s substep it trades apple and potato losses. Torsional friction stays at 0.005 m: genesis-world requires torsional friction for rolling friction, and zeroing its coefficient left coffee beans jittering by up to 13 mm.
Pin the torsional and rolling friction coefficients in the material (schema 5)
The coefficients are genesis-world 1.4.4's defaults, 0.005 m torsional and 0.0001 m rolling, so every scene keeps its physics and a later genesis-world default cannot change it.
14 days ago
Unify sim_eval and sim_teleop into rigid_sim.json, with a 1/300 s substep and gravity -9.81
