From b4cb3de7a251a1efb71517271a8a15281a9f54f0 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Thu, 11 Apr 2024 06:27:23 -0700 Subject: [PATCH] Updates to Aloha: - Add actuator-based gravity compensation. - Better collision parameters. - Improve position of gripper sites. - Reduce timescale of filter smoothers. - Add margin/gap to finger collision spheres. Many of these updates can/should be propagated to the MJX variants, this is left for a future change. PiperOrigin-RevId: 623806749 Change-Id: I46691d592e17a365960e74ef08901a5c25be0ef7 --- aloha/README.md | 2 +- aloha/aloha.xml | 57 +++--- aloha/integrated_cartesian_actuators.xml | 6 +- aloha/mjx_aloha.patch | 184 +++++++++++++++--- .../mjx_integrated_cartesian_actuators.patch | 11 +- 5 files changed, 194 insertions(+), 66 deletions(-) diff --git a/aloha/README.md b/aloha/README.md index 92db738c..4ba6ef98 100644 --- a/aloha/README.md +++ b/aloha/README.md @@ -1,6 +1,6 @@ # ALOHA Description (MJCF) -Requires MuJoCo 3.1.1 or later. +Requires MuJoCo 3.1.4 or later. ## Overview diff --git a/aloha/aloha.xml b/aloha/aloha.xml index d93f5bc1..a0472d36 100644 --- a/aloha/aloha.xml +++ b/aloha/aloha.xml @@ -22,7 +22,7 @@ - + @@ -84,12 +84,9 @@ - - - - + - + @@ -106,42 +103,42 @@ diaginertia="0.0071633 0.00602451 0.00169819"/> - + - + - + - + - + - + - - + + @@ -153,26 +150,26 @@ - + - - + - @@ -193,42 +190,42 @@ diaginertia="0.0071633 0.00602451 0.00169819"/> - + - + - + - + - + - + - - + + @@ -240,26 +237,26 @@ - + - - + - diff --git a/aloha/integrated_cartesian_actuators.xml b/aloha/integrated_cartesian_actuators.xml index 89419e39..a4b0f587 100644 --- a/aloha/integrated_cartesian_actuators.xml +++ b/aloha/integrated_cartesian_actuators.xml @@ -7,11 +7,11 @@ as specified in the main model. --> - + - + @@ -24,7 +24,7 @@ as specified in the main model. --> - + diff --git a/aloha/mjx_aloha.patch b/aloha/mjx_aloha.patch index 72c62b04..e085ee20 100644 --- a/aloha/mjx_aloha.patch +++ b/aloha/mjx_aloha.patch @@ -1,6 +1,5 @@ -diff --git a/mjx_aloha.xml b/mjx_aloha.xml ---- a/mjx_aloha.xml -+++ b/mjx_aloha.xml +--- aloha.xml 2024-04-09 18:15:10.000000000 +0100 ++++ mjx_aloha.xml 2024-02-23 14:06:07.000000000 +0000 @@ -1,7 +1,7 @@ @@ -10,7 +9,15 @@ diff --git a/mjx_aloha.xml b/mjx_aloha.xml -@@ -29,11 +29,11 @@ +@@ -22,18 +22,18 @@ + + + +- ++ + + + @@ -42,7 +49,7 @@ diff --git a/mjx_aloha.xml b/mjx_aloha.xml -@@ -81,16 +81,19 @@ +@@ -81,12 +81,18 @@ @@ -50,74 +57,199 @@ diff --git a/mjx_aloha.xml b/mjx_aloha.xml + -- +- + - -- ++ + - ++ - - +- ++ ++ + + -+ + - -@@ -152,6 +155,7 @@ +@@ -103,42 +109,42 @@ + diaginertia="0.0071633 0.00602451 0.00169819"/> + + +- ++ + + + + +- ++ + + + + +- ++ + + + + +- ++ + + + + +- ++ + + + + +- ++ + + +- +- ++ ++ + + +@@ -149,28 +155,33 @@ + - +- ++ + + - + + -@@ -174,6 +180,8 @@ + + +- ++ + + + - + + -@@ -239,6 +247,7 @@ +@@ -190,42 +201,42 @@ + diaginertia="0.0071633 0.00602451 0.00169819"/> + + +- ++ + + + + +- ++ + + + + +- ++ + + + + +- ++ + + + + +- ++ + + + + +- ++ + + +- +- ++ ++ + + +@@ -236,28 +247,33 @@ + - +- ++ + + - + + -@@ -261,6 +272,8 @@ + + +- ++ + + + - + + -@@ -286,5 +299,5 @@ +@@ -283,5 +299,5 @@ diff --git a/aloha/mjx_integrated_cartesian_actuators.patch b/aloha/mjx_integrated_cartesian_actuators.patch index 0d318ef8..1669052b 100644 --- a/aloha/mjx_integrated_cartesian_actuators.patch +++ b/aloha/mjx_integrated_cartesian_actuators.patch @@ -1,6 +1,5 @@ -diff --git a/mjx_integrated_cartesian_actuators.xml b/mjx_integrated_cartesian_actuators.xml ---- a/mjx_integrated_cartesian_actuators.xml -+++ b/mjx_integrated_cartesian_actuators.xml +--- integrated_cartesian_actuators.xml 2024-04-10 14:17:38.000000000 +0100 ++++ mjx_integrated_cartesian_actuators.xml 2024-04-05 15:01:31.000000000 +0100 @@ -2,16 +2,13 @@ -- +- + - + -- +- + @@ -29,7 +28,7 @@ diff --git a/mjx_integrated_cartesian_actuators.xml b/mjx_integrated_cartesian_a + -- +- +