Created
September 17, 2025 22:07
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| diff --git a/benchmark/apptronik_apollo/apptronik_apollo.xml b/benchmark/apptronik_apollo/apptronik_apollo.xml | |
| index e563bfd..e2b0a84 100644 | |
| --- a/benchmark/apptronik_apollo/apptronik_apollo.xml | |
| +++ b/benchmark/apptronik_apollo/apptronik_apollo.xml | |
| @@ -1,7 +1,7 @@ | |
| <mujoco model="apptronik_apollo"> | |
| <compiler angle="radian" eulerseq="zyx"/> | |
| - <option timestep="0.005" integrator="Euler"> | |
| + <option timestep="0.005" integrator="Euler" iterations="3" ls_iterations="5"> | |
| <flag eulerdamp="disable" /> | |
| </option> | |
| @@ -26,7 +26,8 @@ | |
| </default> | |
| <default class="collision"> | |
| <!-- we turn these back on to be default --> | |
| - <geom contype="1" conaffinity="1" group="3" condim="3" rgba="0 1 0 0.4"/> | |
| + <!-- <geom contype="1" conaffinity="1" group="3" condim="3" rgba="0 1 0 0.4"/> --> | |
| + <geom group="3" rgba="0 1 0 0.4"/> | |
| </default> | |
| </default> | |
| @@ -223,6 +224,16 @@ | |
| <magnetometer name="IMU-magnetometer" site="imu"/> | |
| </sensor> | |
| + <contact> | |
| + <pair name="left_foot_floor" geom1="collision_l_sole" geom2="floor" condim="3" friction="0.6 0.6"/> | |
| + <pair name="right_foot_floor" geom1="collision_r_sole" geom2="floor" condim="3" friction="0.6 0.6"/> | |
| + <pair name="left_hand_thigh" geom1="collision_l_hand_plate" geom2="collision_capsule_body_l_thigh" condim="1"/> | |
| + <pair name="right_hand_thigh" geom1="collision_r_hand_plate" geom2="collision_capsule_body_r_thigh" condim="1"/> | |
| + <pair name="left_foot_right_foot" geom1="collision_l_sole" geom2="collision_r_sole" condim="1"/> | |
| + <pair name="left_shin_right_shin" geom1="collision_capsule_body_l_shin" geom2="collision_capsule_body_r_shin" condim="1"/> | |
| + <pair name="left_thigh_right_thigh" geom1="collision_capsule_body_l_thigh" geom2="collision_capsule_body_r_thigh" condim="1"/> | |
| + </contact> | |
| + | |
| <actuator> | |
| <!-- <position name="neck_yaw" kp="28" kv="15" joint="neck_yaw" ctrlrange="-1.65806 1.65806" forcerange="-10.6 10.6"/> | |
| <position name="neck_roll" kp="9" kv="3" joint="neck_roll" ctrlrange="-0.785398 0.785398" forcerange="-34.2 34.2"/> |
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