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Add minimal Franka test data example #222

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Merged
merged 6 commits into from
May 21, 2025
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StafaH
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@StafaH StafaH commented May 7, 2025

Adding a minimal example (franka robot and floor) to test data.

@StafaH StafaH requested review from erikfrey and btaba May 7, 2025 17:01
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@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?

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two more nits then we are good to go


<statistic center="0.3 0 0.4" extent="1"/>

<option timestep="0.005" iterations="5" ls_iterations="8" integrator="implicitfast">
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for MJWarp, we should be able to remove iterations and ls_iterations

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Done!

</option>

<custom>
<numeric data="12" name="max_contact_points"/>
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for MJWarp, we should be able to remove this whole <custom> section

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Done!

@StafaH StafaH requested a review from erikfrey May 21, 2025 15:42
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StafaH commented May 21, 2025

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.

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Awesome, thanks @StafaH !

@erikfrey erikfrey merged commit b82f87f into google-deepmind:main May 21, 2025
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2 participants