| { |
| "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 |
| } |
| } |
|
|
