Make solimp[2] match foot radius. Fixes #45.

PiperOrigin-RevId: 639351953 Change-Id: I575cd1faf11c430fdbe17391a1cc4db386720e1b
google-deepmind · Jun 1, 2024 · d82891f · d82891f
1 parent 8e6ce1a
commit d82891f
Show file tree

Hide file tree

Showing 7 changed files with 9 additions and 9 deletions.
diff --git a/anybotics_anymal_c/anymal_c.xml b/anybotics_anymal_c/anymal_c.xml
@@ -17,7 +17,7 @@
       <default class="collision">
         <geom group="3" type="cylinder"/>
         <default class="foot">
-          <geom type="sphere" size="0.03" pos="0 0 0.02325" priority="1" solimp="0.015 1 0.031" condim="6"
+          <geom type="sphere" size="0.03" pos="0 0 0.02325" priority="1" solimp="0.015 1 0.03" condim="6"
             friction="0.8 0.02 0.01"/>
         </default>
       </default>

diff --git a/boston_dynamics_spot/scene.xml b/boston_dynamics_spot/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="spot scene">
-  <include file="spot_arm.xml"/>
+  <include file="spot.xml"/>
 
   <statistic center="0.15 0.1 0.38" extent=".8" meansize="0.05"/>
 

diff --git a/boston_dynamics_spot/spot.xml b/boston_dynamics_spot/spot.xml
@@ -1,7 +1,7 @@
 <mujoco model="spot">
   <compiler angle="radian" meshdir="assets"/>
 
-  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+  <option integrator="implicitfast" cone="elliptic" impratio="100"/>
 
   <visual>
     <global ellipsoidinertia="true"/>
@@ -47,7 +47,7 @@
       <default class="collision">
         <geom group="3" type="mesh"/>
         <default class="foot">
-          <geom type="sphere" size="0.036" pos="0 0 -0.3365" priority="1" condim="6" solimp="0.015 1 0.031"
+          <geom type="sphere" size="0.036" pos="0 0 -0.3365" priority="1" condim="6" solimp="0.015 1 0.036"
             friction="0.8 0.02 0.01"/>
         </default>
       </default>

diff --git a/boston_dynamics_spot/spot_arm.xml b/boston_dynamics_spot/spot_arm.xml
@@ -1,7 +1,7 @@
 <mujoco model="spot">
   <compiler angle="radian" meshdir="assets"/>
 
-  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+  <option integrator="implicitfast" cone="elliptic" impratio="100"/>
 
   <visual>
     <global ellipsoidinertia="true"/>
@@ -78,7 +78,7 @@
       <default class="collision">
         <geom group="3" type="mesh"/>
         <default class="foot">
-          <geom type="sphere" size="0.036" pos="0 0 -0.3365" priority="1" condim="6" solimp="0.015 1 0.031"
+          <geom type="sphere" size="0.036" pos="0 0 -0.3365" priority="1" condim="6" solimp="0.015 1 0.036"
             friction="0.8 0.02 0.01"/>
         </default>
       </default>

diff --git a/unitree_a1/a1.xml b/unitree_a1/a1.xml
@@ -47,7 +47,7 @@
           <geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
         </default>
         <default class="foot">
-          <geom type="sphere" size="0.02" pos="0 0 -0.2" priority="1" solimp="0.015 1 0.031" condim="6"
+          <geom type="sphere" size="0.02" pos="0 0 -0.2" priority="1" solimp="0.015 1 0.02" condim="6"
             friction="0.8 0.02 0.01"/>
         </default>
       </default>

diff --git a/unitree_go1/go1.xml b/unitree_go1/go1.xml
@@ -59,7 +59,7 @@
           <geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
         </default>
         <default class="foot">
-          <geom type="sphere" size="0.023" pos="0 0 -0.213" priority="1" solimp="0.015 1 0.031" condim="6"
+          <geom type="sphere" size="0.023" pos="0 0 -0.213" priority="1" solimp="0.015 1 0.023" condim="6"
             friction="0.8 0.02 0.01"/>
         </default>
       </default>

diff --git a/unitree_go2/go2.xml b/unitree_go2/go2.xml
@@ -29,7 +29,7 @@
       <default class="collision">
         <geom group="3"/>
         <default class="foot">
-          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.031" condim="6"
+          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.022" condim="6"
             friction="0.8 0.02 0.01"/>
         </default>
       </default>