File size: 1,239 Bytes
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"schema_version": 5,
"genesis_world_version": "1.4.5",
"precision": "32",
"sim_options": {
"substep_dt": 0.0033333333333333335,
"gravity": [
0.0,
0.0,
-9.81
]
},
"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": null,
"noslip_iterations": 0,
"noslip_tolerance": 1e-06,
"constraint_timeconst": 0.01,
"contact_pruning_tolerance": 0.02,
"use_hibernation": true,
"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": true,
"enable_rolling_friction": true,
"box_box_detection": true,
"use_gjk_collision": false
},
"material": {
"rho": 200.0,
"friction": 1.0,
"friction_torsional": 0.005,
"friction_rolling": 0.005
}
}
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