currently it uses the smooth minimize proxy, and one has not to forget the lbounds = "auto".
lbounds = "auto" should be the default value in the BoundedSmoothContactSystem
I was thinking about removing the lbounds completely from the SmoothContactSystem. However, they are sometimes usefull. Most of the potentials create numerical overflow during the optimization process. The common fix is to linearize the potential for small gaps. An alternative is to have bounds, that will avoid overflow during the minimization process but will be inactive at the solution.
currently it uses the smooth minimize proxy, and one has not to forget the
lbounds = "auto".lbounds = "auto"should be the default value in the BoundedSmoothContactSystemI was thinking about removing the lbounds completely from the SmoothContactSystem. However, they are sometimes usefull. Most of the potentials create numerical overflow during the optimization process. The common fix is to linearize the potential for small gaps. An alternative is to have bounds, that will avoid overflow during the minimization process but will be inactive at the solution.