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In trunk of physics_ode and simulator_gazebo, in addition to Kevin's above mentioned improvements, another notable change improving PR2 simulation performance is the introduction of an experimental screw joint constraint for gripper and torso simulation. The screw constraint alleviates previously existing numerical stiffness at gripper and torso joints due to high controller gains and high joint mechanism reduction ratio. Allows PR2 to run at time step size as large as 4 milli-seconds (250Hz) without URDF controller gain changes from current released 1kHz control loop values.

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