ODE: Effect of reducing maxContacts on link friction (robot foot)?

asked 2018-04-04 08:50:43 -0600

Question:
Will reducing the number of maxContacts for a link (robot foot) affect its contact friction with the the ground surface?

i.e. Will a robot foot link with maxContacts=2 interact differently with the ground compared to a robot foot link with maxContacts=20 (assuming that at least 1 contact point at all times)?

The more general question would be how Gazebo/ODE handles multiple contacts between 2 links (are the contact forces cumulative)?


Background:
I want to reduce the number maxContacts for the foot links on my robot b/c contacts appear to be the largest bottleneck in my simulation speed.

Thanks

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