Add minimal Franka test data example #222
Conversation
There was a problem hiding this comment.
@StafaH I would leave the primitive colliders as they were (basically undo your last commit) - those work OK and have already been validated in sim2real contexts.
Was there something you had in mind by explicitly removing them?
|
|
||
| <statistic center="0.3 0 0.4" extent="1"/> | ||
|
|
||
| <option timestep="0.005" iterations="5" ls_iterations="8" integrator="implicitfast"> |
There was a problem hiding this comment.
for MJWarp, we should be able to remove iterations and ls_iterations
| </option> | ||
|
|
||
| <custom> | ||
| <numeric data="12" name="max_contact_points"/> |
There was a problem hiding this comment.
for MJWarp, we should be able to remove this whole <custom> section
This reverts commit 487b391.
|
Reverted the primitive collision change. Agree with the sim2real comment to align with previous work. Originally I was just thinking this test data/test case should more more MJWarp related, since the original motivation for the primitive colliders was that mesh collision was too expensive in MJX, but your rationale makes more sense as well. |
Adding a minimal example (franka robot and floor) to test data.