Updating an older post, this paper was accepted to RA-L/IROS, congrats to Brian and Will!
How well do modern robotics simulators reproduce impact dynamics? How important are appropriately tuned contact parameters for physical realism? We compared simulated trajectories against real impact data from a cube toss and Penn Cassie jumping (or more accurately, landing). Simulators faithfully capture near rigid impacts while struggling with elasticity. While accuracy in reproducing cube toss data is largely insensitive to contact parameters if the parameters are stiff enough, correct stiffness and damping are necessary for accurately reproducing Cassie trajectories.