update gripper demo world

gazebosim · Sep 22, 2012 · a60e975 · a60e975
1 parent fbdd3f7
commit a60e975
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/sdf/worlds/simple_gripper.world b/sdf/worlds/simple_gripper.world
@@ -12,13 +12,13 @@
           <solver>
             <type>quick</type>
             <dt>0.001</dt>
-            <iters>50</iters>
-            <sor>1.3</sor>
+            <iters>10</iters>
+            <sor>1.0</sor>
           </solver>
           <constraints>
             <cfm>0.0</cfm>
-            <erp>0.2</erp>
-            <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
+            <erp>0.01</erp>
+            <contact_max_correcting_vel>0.0</contact_max_correcting_vel>
             <contact_surface_layer>0.001</contact_surface_layer>
           </constraints>
         </ode>