115c115 < cu_physics = 0, 0, 0, 0, --- > cu_physics = 1, 1, 1, 1, 170c170 < gq = 0.000001, 0.000001, 0.000001, --- > gq = 1e-06, 1e-06, 1e-06, 195c195 < damp_opt = 1, --- > damp_opt = 0, 197c197 < dampcoef = 0.1, 0.1, 0.1 0.1 --- > dampcoef = 0.01, 0.01, 0.01 0.01