Solver Options
The solver has several options accessible via SolverOptions. Below is a list describing their effect on the solver's behavior, typical values, and if they need to be tuned by the user.
| option | default | range | effect | tuning |
|---|---|---|---|---|
rtol | $10^{-4}$ | $[10^{-6}, 10^{-2}]$ | larger leads to faster solve (usually takes the same value as btol) | rarely |
btol | $10^{-4}$ | $[10^{-6}, 10^{-2}]$ | larger results in smoothed contact dynamics and faster solve | rarely |
ls_scale | $0.5$ | $[0.3, 0.8]$ | larger potentially increase step size at the cost of more residual evaluations | never |
max_ls | $10$ | $[1, 25]$ | larger allows for taking smaller steps | never |
undercut | $+\infty$ | $[2, +\infty]$ | larger is more robust but can generate stiffer gradients | rarely |
no_progress_max | $3$ | $[3, 5]$ | smaller will increase the undercut faster | never |
no_progress_undercut | $10$ | $[3, 100]$ | larger will increase the undercut faster | never |
verbose | $\text{false}$ | $\{\text{true}, \text{false}\}$ | printing the status of the solver | often |