File size: 1,152 Bytes
205327b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | {
"schema_version": 1,
"genesis_world_version": "1.4.2",
"sim_options": {
"dt": 0.01,
"substeps": 10,
"gravity": [
0.0,
0.0,
-9.8
]
},
"rigid_options": {
"integrator": "approximate_implicitfast",
"constraint_solver": "Newton",
"friction_cone": "elliptic",
"contact_resolution": "convex",
"impratio": null,
"iterations": 100,
"tolerance": 1e-05,
"ls_iterations": 50,
"ls_tolerance": 0.01,
"sparse_solve": false,
"noslip_iterations": 0,
"noslip_tolerance": 1e-06,
"constraint_timeconst": 0.01,
"contact_pruning_tolerance": 0.02,
"use_hibernation": false,
"hibernation_thresh_vel": 0.001,
"enable_collision": true,
"enable_joint_limit": true,
"enable_self_collision": false,
"enable_adjacent_collision": false,
"enable_neutral_collision": false,
"enable_multi_contact": true,
"enable_mujoco_compatibility": false,
"enable_torsional_friction": false,
"enable_rolling_friction": false,
"box_box_detection": true,
"use_gjk_collision": false
},
"material": {
"rho": 200.0,
"friction": 1.0
}
}
|