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[AIRO-617] Update configurations to mitigate latest version incompatibilities #243

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Merged
merged 2 commits into from
Jun 7, 2021
Merged

[AIRO-617] Update configurations to mitigate latest version incompatibilities #243

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5893f7e
update configurations to make demo works in latest version
peifeng-unity Jun 1, 2021
7c97eb2
update configurations
peifeng-unity Jun 1, 2021
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5 changes: 2 additions & 3 deletions tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -38,8 +37,8 @@ public class Demo : MonoBehaviour

string niryoOneName = "niryo_one";
string baseLinkName = "base_link";
float controllerStiffness = 10000;
float controllerDamping = 100;
float controllerStiffness = 100000;
float controllerDamping = 1000;
float controllerForceLimit = 1000;
float controllerSpeed = 30;
float controllerAcceleration = 10;
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2 changes: 1 addition & 1 deletion tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/DynamicsManager.asset
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Expand Up @@ -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
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6 changes: 3 additions & 3 deletions tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/TimeManager.asset
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Expand Up @@ -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