Unify sim_eval and sim_teleop into rigid_sim.json, with a 1/300 s substep and gravity -9.81

sim_teleop.json → rigid_sim.json

@@ -1,14 +1,13 @@
 {
-  "schema_version": 3,
+  "schema_version": 4,
   "genesis_world_version": "1.4.4",
   "precision": "32",
   "sim_options": {
-    "dt": 0.016666666666666666,
     "substep_dt": 0.0033333333333333335,
     "gravity": [
       0.0,
       0.0,
-      -9.8
+      -9.81
     ]
   },
   "rigid_options": {

sim_eval.json

@@ -1,47 +0,0 @@
-{
-  "schema_version": 3,
-  "genesis_world_version": "1.4.4",
-  "precision": "32",
-  "sim_options": {
-    "dt": 0.01,
-    "substep_dt": 0.002,
-    "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": true,
-    "enable_rolling_friction": true,
-    "box_box_detection": true,
-    "use_gjk_collision": false
-  },
-  "material": {
-    "rho": 200.0,
-    "friction": 1.0
-  }
-}