From 5e4d2250ce66faccf2e6dfdbb977a30c3a458c15 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Sun, 22 Aug 2021 16:34:36 -0700
Subject: [PATCH] Change joint limits and gravity to be closer to the
 conditions of #1596

---
 data/sdf/test/test_issue1596.model      | 16 ++++++++--------
 unittests/regression/test_Issue1596.cpp |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/data/sdf/test/test_issue1596.model b/data/sdf/test/test_issue1596.model
index 793b8467f7c54..ee7342057be34 100644
--- 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
index 986449f3decb6..44654e809d470 100644
--- 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);