Change joint limits and gravity to be closer to the conditions of #1596

dartsim · Aug 22, 2021 · 5e4d225 · 5e4d225
1 parent 4fb89e2
commit 5e4d225
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/data/sdf/test/test_issue1596.model b/data/sdf/test/test_issue1596.model
@@ -124,8 +124,8 @@
       <axis>
         <xyz>1 0 0</xyz>
         <limit>
-          <lower>-0.1</lower>
-          <upper>0.1</upper>
+          <lower>-1.2</lower>
+          <upper>1.2</upper>
           <stiffness>1e6</stiffness>
         </limit>
         <dynamics>
@@ -135,8 +135,8 @@
       <axis2>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-0.1</lower>
-          <upper>0.1</upper>
+          <lower>-1.2</lower>
+          <upper>1.2</upper>
           <stiffness>1e6</stiffness>
         </limit>
         <dynamics>
@@ -155,8 +155,8 @@
       <axis>
         <xyz>1 0 0</xyz>
         <limit>
-          <lower>-0.1</lower>
-          <upper>0.1</upper>
+          <lower>-1.2</lower>
+          <upper>1.2</upper>
         </limit>
         <dynamics>
           <damping>0.1</damping>
@@ -165,8 +165,8 @@
       <axis2>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-0.1</lower>
-          <upper>0.1</upper>
+          <lower>-1.2</lower>
+          <upper>1.2</upper>
         </limit>
         <dynamics>
           <damping>0.1</damping>

diff --git a/unittests/regression/test_Issue1596.cpp b/unittests/regression/test_Issue1596.cpp
@@ -49,7 +49,7 @@ TEST(Issue1596, ServoJointWithPositionLimits)
   ASSERT_NE(skel, nullptr);
 
   auto world = dart::simulation::World::create();
-  world->setGravity(Eigen::Vector3d(1, 1, 0));
+  world->setGravity(Eigen::Vector3d(9.81, 9.81, 0));
   world->addSkeleton(skel);
   ASSERT_EQ(world->getNumSkeletons(), 1);