update timestep="0.001" to timestep="0.004"
Browse files- assets/tray.xml +4 -3
assets/tray.xml
CHANGED
|
@@ -1,6 +1,7 @@
|
|
| 1 |
<mujoco model="tray_sim">
|
| 2 |
-
<
|
| 3 |
-
<
|
|
|
|
| 4 |
<size njmax="1000" nconmax="500"/>
|
| 5 |
|
| 6 |
<!-- Visual settings -->
|
|
@@ -98,7 +99,7 @@
|
|
| 98 |
</body>
|
| 99 |
|
| 100 |
<!-- Pusher (black disc) -->
|
| 101 |
-
<body name="pusher" pos="0.20 0.10 0.
|
| 102 |
<geom type="cylinder" size="0.04 0.01" rgba="0 0 0 1" density="2000"/>
|
| 103 |
<joint type="free"/>
|
| 104 |
</body>
|
|
|
|
| 1 |
<mujoco model="tray_sim">
|
| 2 |
+
<!-- "RK4", "Euler", "implicit", and "implicitfast"-->
|
| 3 |
+
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
|
| 4 |
+
<option gravity="0 0 -9.81" timestep="0.004" integrator="RK4"/>
|
| 5 |
<size njmax="1000" nconmax="500"/>
|
| 6 |
|
| 7 |
<!-- Visual settings -->
|
|
|
|
| 99 |
</body>
|
| 100 |
|
| 101 |
<!-- Pusher (black disc) -->
|
| 102 |
+
<body name="pusher" pos="0.20 0.10 0.2">
|
| 103 |
<geom type="cylinder" size="0.04 0.01" rgba="0 0 0 1" density="2000"/>
|
| 104 |
<joint type="free"/>
|
| 105 |
</body>
|