Created
September 17, 2025 22:13
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| diff --git a/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml b/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml | |
| index 50b0eba..15f8c95 100644 | |
| --- a/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml | |
| +++ b/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml | |
| @@ -1,14 +1,14 @@ | |
| <mujoco model="leap_rh"> | |
| <compiler angle="radian" autolimits="true"/> | |
| - <option timestep="0.01" integrator="Euler" iterations="5" ls_iterations="8"> | |
| + <option timestep="0.01" integrator="Euler"> | |
| <flag eulerdamp="disable"/> | |
| </option> | |
| - <custom> | |
| +<!-- <custom> | |
| <numeric data="30" name="max_contact_points"/> | |
| <numeric data="12" name="max_geom_pairs"/> | |
| - </custom> | |
| + </custom> --> | |
| <asset> | |
| <material name="black" rgba="0.2 0.2 0.2 1"/> | |
| @@ -77,8 +77,7 @@ | |
| </default> | |
| </default> | |
| - <contact> | |
| - <!-- filter the palm from all other finger bodies except the tips --> | |
| +<!-- <contact> | |
| <exclude body1="palm" body2="if_bs"/> | |
| <exclude body1="palm" body2="mf_bs"/> | |
| <exclude body1="palm" body2="rf_bs"/> | |
| @@ -94,7 +93,6 @@ | |
| <exclude body1="palm" body2="rf_md"/> | |
| <exclude body1="palm" body2="th_px"/> | |
| - <!-- filter the mount from all finger bodies except the tips --> | |
| <exclude body1="leap_mount" body2="if_bs"/> | |
| <exclude body1="leap_mount" body2="mf_bs"/> | |
| <exclude body1="leap_mount" body2="rf_bs"/> | |
| @@ -110,7 +108,6 @@ | |
| <exclude body1="leap_mount" body2="rf_md"/> | |
| <exclude body1="leap_mount" body2="th_px"/> | |
| - <!-- none of the base fingertip geoms can touch each other --> | |
| <exclude body1="if_bs" body2="mf_bs"/> | |
| <exclude body1="if_bs" body2="rf_bs"/> | |
| <exclude body1="mf_bs" body2="rf_bs"/> | |
| @@ -118,7 +115,7 @@ | |
| <exclude body1="th_mp" body2="if_bs"/> | |
| <exclude body1="th_mp" body2="mf_bs"/> | |
| <exclude body1="th_mp" body2="rf_bs"/> | |
| - </contact> | |
| + </contact> --> | |
| <worldbody> | |
| <light name="spotlight" mode="targetbodycom" target="palm" pos="3 0 4"/> |
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