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update solimp and solref for gripper equality
1 parent 4bc7206 commit 7df8931

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Lines changed: 20 additions & 20 deletions

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‎assets/synthnova_assets/robots/galbot_one_foxtrot_description/galbot_one_foxtrot.xml‎

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Original file line numberDiff line numberDiff line change
@@ -1367,16 +1367,16 @@
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</contact>
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<equality>
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
1373-
<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
1375-
<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
1376-
<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
1370+
<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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</equality>
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<sensor>

‎assets/synthnova_assets/robots/galbot_one_foxtrot_description_simplified/galbot_one_foxtrot.xml‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1362,16 +1362,16 @@
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</contact>
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<equality>
1365-
<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.0005 0.9995 0.0001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="left_gripper_r_knuckle_joint" joint2="left_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_inner_knuckle_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_inner_knuckle_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_l_finger_joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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<joint joint1="right_gripper_r_knuckle_joint" joint2="right_gripper_r_finger_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001 " solref="0.001 1" />
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</equality>
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<sensor>

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