Jeremy Binagia comments

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                                            Jeremy Binagia

Recommendation for setting hydroelastic modulus

I like the relationship derived from relating hydroelastic contact to Hertzian theory (at the very least for building up intuition). The factor $R/d$ sort of brings to mind the function...

Lagged and Similar contact models limit stiffness like SAP does in near-rigid regime

@amcastro-tri Thanks for looking into this - I just wanted to make an important clarification. I agree that regularization plays no role in the deep penetration issue. My point was...

Unstable plane-on-plane contact when switching over to contact models Lagged / Similar

@amcastro-tri Just to confirm, this fix also works when using `kLagged` as well?