From 5893f7e021e7e96bf97e1efb52e3720b871e67c0 Mon Sep 17 00:00:00 2001 From: peifeng-unity Date: Tue, 1 Jun 2021 16:48:21 -0700 Subject: [PATCH 1/2] update configurations to make demo works in latest version --- .../PickAndPlaceProject/Assets/DemoScripts/Demo.cs | 3 +-- .../ProjectSettings/DynamicsManager.asset | 2 +- .../PickAndPlaceProject/ProjectSettings/TimeManager.asset | 6 +++--- 3 files changed, 5 insertions(+), 6 deletions(-) diff --git a/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs b/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs index c30ea524..f6dad349 100644 --- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs +++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs @@ -18,7 +18,6 @@ public class Demo : MonoBehaviour { public string hostIP = "127.0.0.1"; - public string overrideUnityIP = "127.0.0.1"; public bool generateRosMessages = true; public bool deleteRosMessagesAfterSimulation = true; @@ -39,7 +38,7 @@ public class Demo : MonoBehaviour string niryoOneName = "niryo_one"; string baseLinkName = "base_link"; float controllerStiffness = 10000; - float controllerDamping = 100; + float controllerDamping = 1000; float controllerForceLimit = 1000; float controllerSpeed = 30; float controllerAcceleration = 10; diff --git a/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/DynamicsManager.asset b/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/DynamicsManager.asset index 784ac96a..f968131b 100644 --- a/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/DynamicsManager.asset +++ b/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/DynamicsManager.asset @@ -11,7 +11,7 @@ PhysicsManager: m_SleepThreshold: 0.005 m_DefaultContactOffset: 0.01 m_DefaultSolverIterations: 6 - m_DefaultSolverVelocityIterations: 1 + m_DefaultSolverVelocityIterations: 3 m_QueriesHitBackfaces: 0 m_QueriesHitTriggers: 1 m_EnableAdaptiveForce: 0 diff --git a/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/TimeManager.asset b/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/TimeManager.asset index 558a017e..2c5ebdd8 100644 --- a/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/TimeManager.asset +++ b/tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/TimeManager.asset @@ -3,7 +3,7 @@ --- !u!5 &1 TimeManager: m_ObjectHideFlags: 0 - Fixed Timestep: 0.02 - Maximum Allowed Timestep: 0.33333334 + Fixed Timestep: 0.01 + Maximum Allowed Timestep: 0.01 m_TimeScale: 1 - Maximum Particle Timestep: 0.03 + Maximum Particle Timestep: 0.01 From 7c97eb219347fb52a4f3972a1762987eeecdd536 Mon Sep 17 00:00:00 2001 From: peifeng-unity Date: Tue, 1 Jun 2021 16:54:17 -0700 Subject: [PATCH 2/2] update configurations --- .../PickAndPlaceProject/Assets/DemoScripts/Demo.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs b/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs index f6dad349..6dea4471 100644 --- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs +++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs @@ -37,7 +37,7 @@ public class Demo : MonoBehaviour string niryoOneName = "niryo_one"; string baseLinkName = "base_link"; - float controllerStiffness = 10000; + float controllerStiffness = 100000; float controllerDamping = 1000; float controllerForceLimit = 1000; float controllerSpeed = 30;