Make ALOHA slower, switch to velocity cost, add hand/table contact.

PiperOrigin-RevId: 622167940 Change-Id: I326cb963961e440be997234c9816bab823ccdce1
google-deepmind · Apr 5, 2024 · 95c6840 · 95c6840
1 parent 915d92c
commit 95c6840
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/aloha/mjx_integrated_cartesian_actuators.patch b/aloha/mjx_integrated_cartesian_actuators.patch
@@ -11,7 +11,7 @@ diff --git a/mjx_integrated_cartesian_actuators.xml b/mjx_integrated_cartesian_a
      <default class="act">
 -      <!-- filtered actuators produce smoother motion -->
 -      <general dyntype="filterexact" biastype="affine" dynprm="1"/>
-+      <general dyntype="filterexact" biastype="affine" dynprm="0.5"/>
++      <general dyntype="filterexact" biastype="affine" dynprm="1.5"/>
        <default class="act_position">
 -        <general gainprm="1000" biasprm="0 -1000 -300"/>
 +        <general gainprm="1000" biasprm="0 -1000 0"/>
@@ -30,7 +30,7 @@ diff --git a/mjx_integrated_cartesian_actuators.xml b/mjx_integrated_cartesian_a
        </default>
        <default class="act_gripper">
 -        <general ctrlrange="0.002 0.037" gainprm="2000" biasprm="0 -2000 -124" dynprm="0.1"/>
-+        <general gainprm="365" biasprm="0 -365 0" dynprm="0.1" ctrlrange="0.002 0.037"/>
++        <general gainprm="365" biasprm="0 -365 0" dynprm="0.3" ctrlrange="0.002 0.037"/>
        </default>
      </default>
    </default>
diff --git a/aloha/mjx_scene.patch b/aloha/mjx_scene.patch
@@ -35,7 +35,7 @@ diff --git a/mjx_scene.xml b/mjx_scene.xml
        <geom mesh="tabletop" material="table" class="visual" quat="1 0 0 1"/>
        <geom mesh="tablelegs" material="table" class="visual" quat="1 0 0 1"/>
 -      <geom name="table" pos="0 0 0.6509" size="0.61 0.37 0.1" type="box" class="collision"/>
-+      <geom name="table" pos="0 0 0.7509" size="0.61 0.37 0.1" type="plane" class="collision" contype="0" conaffinity="1"/>
++      <geom name="table" pos="0 0 0.7508" size="0.61 0.37 0.1" type="plane" class="collision" contype="1" conaffinity="1"/>
 +    </frame>
 +    <body name="box">
 +      <freejoint/>