This PR updates the default value of proximity properties used by MbP so that they are consistent across contact approximations. That is, a user would expect the same amount of compliance and dissipation regardless the approximation, for those defaults.
So far I left the older default parameters in ContactByPenaltyMethodParameters but only because before we depreacte APIs, we'd still need to report the once called "penalty method time scale".
So this PR is proposing to get rid of the "penetration allowance" and friends, and replace it instead with default values. Hardcoded in this PR, presumably to be part of default defaults in a DefaultProximityProperties in the future.
Marking "do not review"/"do not merge" for now while I check with both Drake and Anzu CIs.
Marking a "breaking change" since really this would entail a behavioral change.
Towards making SAP the default solver, #21294 .
This PR updates the default value of proximity properties used by MbP so that they are consistent across contact approximations. That is, a user would expect the same amount of compliance and dissipation regardless the approximation, for those defaults.
So far I left the older default parameters in
ContactByPenaltyMethodParametersbut only because before we depreacte APIs, we'd still need to report the once called "penalty method time scale". So this PR is proposing to get rid of the "penetration allowance" and friends, and replace it instead with default values. Hardcoded in this PR, presumably to be part of default defaults in aDefaultProximityPropertiesin the future.Marking "do not review"/"do not merge" for now while I check with both Drake and Anzu CIs. Marking a "breaking change" since really this would entail a behavioral change.
This change is