Revert to more stable values for mjx Aloha.

btaba · copybara-github · commit e7cb46f0715e · 2024-09-25T11:47:28.000-07:00
PiperOrigin-RevId: 678787966
Change-Id: Ibc6ac695b1ada3f496983f89368bdde0e8295294
diff --git a/aloha/mjx_aloha.patch b/aloha/mjx_aloha.patch
@@ -1,6 +1,36 @@
---- aloha.xml	2024-07-24 19:38:17.000000000 +0100
-+++ mjx_aloha.xml	2024-09-17 10:18:25.000000000 +0100
-@@ -84,10 +84,16 @@
+--- aloha.xml	2024-07-24 11:38:17.000000000 -0700
++++ mjx_aloha.xml	2024-09-25 11:33:18.000000000 -0700
+@@ -1,7 +1,11 @@
+ <mujoco model="aloha">
+   <compiler angle="radian" meshdir="assets" autolimits="true"/>
+ 
+-  <option cone="elliptic" impratio="10"/>
++  <option impratio="5"/>
++
++  <visual>
++    <scale contactwidth="0.075" contactheight="0.025" forcewidth="0.05"/>
++  </visual>
+ 
+   <asset>
+     <material name="black" rgba="0.15 0.15 0.15 1"/>
+@@ -21,6 +25,7 @@
+   </asset>
+ 
+   <default>
++    <mesh maxhullvert="32"/>
+     <default class="vx300s">
+       <joint axis="0 1 0" actuatorfrcrange="-35 35"/>
+       <site group="4"/>
+@@ -72,7 +77,7 @@
+           where the gripper is actuated to its fully closed and fully open positions. Therefore the
+           control range represents limits enforced by _software_ on the real robot.
+         -->
+-        <position ctrlrange="0.002 0.037" kp="2000" kv="124"/>
++        <position ctrlrange="0.002 0.037" kp="365"/>
+         <default class="left_finger">
+           <joint range="0 0.041" axis="0 0 -1"/>
+         </default>
+@@ -84,10 +89,17 @@
          <geom type="mesh" mass="0" group="2" material="black" contype="0" conaffinity="0"/>
        </default>
        <default class="collision">
@@ -13,20 +43,21 @@
            <geom type="sphere" size="0.0006" rgba="1 0 0 1"/>
          </default>
 +        <default class="primitive_collision">
-+          <geom contype="0" conaffinity="1" rgba="1 0 0 0.5" group="3"/>
++          <geom contype="0" conaffinity="1" rgba="1 0 0 0.5" group="3"
++           condim="3" solref="0.01 1" friction="1 0.005 0.0001"/>
 +        </default>
        </default>
      </default>
    </default>
-@@ -149,6 +155,7 @@
+@@ -149,6 +161,7 @@
                      <geom class="collision" pos="0 -0.03525 -0.0227" quat="0 -1 0 -1" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
                      <geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
                      <geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
 +                    <geom class="primitive_collision" type="capsule" fromto="0.055 0 0.015 -0.055 0 0.015" size="0.03" />
                      <camera name="wrist_cam_left" pos="0 -0.0824748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
                              focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
                     <body name="left/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
-@@ -157,8 +164,10 @@
+@@ -157,8 +170,10 @@
                        <joint name="left/left_finger" class="left_finger"/>
                        <geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
                          mesh="vx300s_8_custom_finger_left"/>
@@ -38,7 +69,7 @@
                        <geom name="left/left_g0" pos="0.013  -0.0892 0.0268" class="sphere_collision"/>
                        <geom name="left/left_g1" pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
                        <geom name="left/left_g2" pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
-@@ -170,8 +179,10 @@
+@@ -170,8 +185,10 @@
                        <joint name="left/right_finger" class="right_finger"/>
                        <geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
                          mesh="vx300s_8_custom_finger_right"/>
@@ -50,15 +81,15 @@
                        <geom name="left/right_g0" pos="0.013  0.0892 0.0268" class="sphere_collision"/>
                        <geom name="left/right_g1" pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
                        <geom name="left/right_g2" pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
-@@ -237,6 +248,7 @@
+@@ -237,6 +254,7 @@
                      <geom class="collision" pos="0 -0.03525 -0.0227" quat="0 -0.707107 0 -0.707107" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
                      <geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
                      <geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
 +                    <geom class="primitive_collision" type="capsule" fromto="0.055 0 0.015 -0.055 0 0.015" size="0.03" />
                      <camera name="wrist_cam_right" pos="0 -0.0824748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
                              focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
                      <body name="right/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
-@@ -245,8 +257,10 @@
+@@ -245,8 +263,10 @@
                        <joint name="right/left_finger" class="left_finger"/>
                        <geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
                          mesh="vx300s_8_custom_finger_left"/>
@@ -70,7 +101,7 @@
                        <geom name="right/left_g0" pos="0.013  -0.0892 0.0268" class="sphere_collision"/>
                        <geom name="right/left_g1" pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
                        <geom name="right/left_g2" pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
-@@ -258,8 +272,10 @@
+@@ -258,8 +278,10 @@
                        <joint name="right/right_finger" class="right_finger"/>
                        <geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
                          mesh="vx300s_8_custom_finger_right"/>
@@ -82,7 +113,7 @@
                        <geom name="right/right_g0" pos="0.013  0.0892 0.0268" class="sphere_collision"/>
                        <geom name="right/right_g1" pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
                        <geom name="right/right_g2" pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
-@@ -285,6 +301,5 @@
+@@ -285,6 +307,5 @@
      <joint joint1="right/left_finger" joint2="right/right_finger" polycoef="0 1 0 0 0"/>
    </equality>
  
diff --git a/aloha/mjx_scene.patch b/aloha/mjx_scene.patch
@@ -1,5 +1,5 @@
---- scene.xml	2024-07-24 11:01:16.000000000 -0700
-+++ mjx_scene.xml	2024-07-24 11:01:09.000000000 -0700
+--- scene.xml	2024-07-24 11:38:17.000000000 -0700
++++ mjx_scene.xml	2024-09-25 10:13:59.000000000 -0700
 @@ -1,7 +1,13 @@
  <mujoco model="aloha_scene">
    <compiler meshdir="assets" texturedir="assets"/>
@@ -8,10 +8,10 @@
 +  <include file="mjx_aloha.xml"/>
 +
 +  <custom>
-+    <numeric data="8" name="max_contact_points"/>
++    <numeric data="12" name="max_contact_points"/>
 +  </custom>
 +
-+  <option iterations="8" ls_iterations="8" timestep="0.01"/>
++  <option iterations="8" ls_iterations="8" timestep="0.005"/>
  
    <statistic center="0 -0.1 0.2" extent="0.6" meansize="0.05"/>
  
