small changes

Author: Huangzizhou

scripts/optimize.py

@@ -245,7 +245,7 @@ def load_opt_json(path):
     parser.add_argument('--E', type=float, default=1e6)
     parser.add_argument('--nu', type=float, default=0.3)
     parser.add_argument('--no_contact', action='store_true')
-    parser.add_argument('--dhat', type=float, default=1e-3)
+    parser.add_argument('--dhat', type=float, default=5e-4)
     parser.add_argument('--barrier', type=float, default=-1)
 
     parser.add_argument('--threads', type=int, default=16)
@@ -327,7 +327,7 @@ def load_opt_json(path):
     nu = args.nu
     contact = not args.no_contact
     dhat = args.dhat
-    barrier = E if args.barrier <= 0 else args.barrier
+    barrier = 100 * E if args.barrier <= 0 else args.barrier
 
     folder = "../result/"
     if args.no_contact:

scripts/state-1.json

@@ -63,6 +63,7 @@
             "Newton": {
                 "use_psd_projection": false,
                 "reg_weight_inc": 100,
+                "reg_weight_max": 1e16,
                 "use_psd_projection_in_regularized": false
             },
             "advanced": {