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RoboVerseOrg
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roboverse_data

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Robotics

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Priosin commited on 22 days ago

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36f5942

verified ·

1 Parent(s): 5280311

Update assets/rlbench/close_box/box_base/mjcf/box_base_unique.mjcf

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This PR shifts the box lid 1 cm outward（same to metasim/data/quick_start/assets/rlbench/close_box/box_base/mjcf/box_base_unique.mjcf in Roboverse） and removes duplicate visual geoms, eliminating the small self-penetrations that caused MuJoCo to inject huge constraint impulses on the first step. With the fix, the model loads with zero internal contacts, qacc stays near zero, and simulations start smoothly and remain numerically stable.

Files changed (1) hide show

assets/rlbench/close_box/box_base/mjcf/box_base_unique.mjcf +1 -1

assets/rlbench/close_box/box_base/mjcf/box_base_unique.mjcf CHANGED Viewed

@@ -30,7 +30,7 @@
       <geom type="box" rgba="0.85 0.85 1 1" size="0.075 0.175 0.005" pos="0.000246 -0.124999 2e-06" quat="-6.48643e-06 -1.18983e-05 0.707107 0.707107" />
       <geom name="box_base_collision" size="0.125 0.075 0.005" pos="0.000245 1e-06 0.175002" quat="-6.48643e-06 0.707107 0.707107 -6.24149e-06" type="box" rgba="0.85 0.85 1 1" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
       <geom type="box" rgba="0.85 0.85 1 1" size="0.125 0.075 0.005" pos="0.000245 1e-06 0.175002" quat="-6.48643e-06 0.707107 0.707107 -6.24149e-06" />
-      <body name="box_lid" pos="0.076229 -0.123002 2e-05" quat="-1.07291e-05 0.707109 0.707104 -1.11912e-05">
         <inertial pos="0.126009 0.038258 -7e-05" quat="0.5 0.5 -0.5 0.5" mass="0.938" diaginertia="0.0151896 0.00958324 0.00562206" />
         <joint name="box_joint" pos="0 0 0" axis="0 0 1" range="-0.253073 2.36492" actuatorfrcrange="-10 10" />
         <geom name="box_lid" size="0.134 0.175 0.005" pos="0.126009 0.038258 -7e-05" quat="-0.701049 0.701067 0.0922885 -0.0922909" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />

       <geom type="box" rgba="0.85 0.85 1 1" size="0.075 0.175 0.005" pos="0.000246 -0.124999 2e-06" quat="-6.48643e-06 -1.18983e-05 0.707107 0.707107" />
       <geom name="box_base_collision" size="0.125 0.075 0.005" pos="0.000245 1e-06 0.175002" quat="-6.48643e-06 0.707107 0.707107 -6.24149e-06" type="box" rgba="0.85 0.85 1 1" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
       <geom type="box" rgba="0.85 0.85 1 1" size="0.125 0.075 0.005" pos="0.000245 1e-06 0.175002" quat="-6.48643e-06 0.707107 0.707107 -6.24149e-06" />
+      <body name="box_lid" pos="0.086229 -0.123002 2e-05" quat="-1.07291e-05 0.707109 0.707104 -1.11912e-05">
         <inertial pos="0.126009 0.038258 -7e-05" quat="0.5 0.5 -0.5 0.5" mass="0.938" diaginertia="0.0151896 0.00958324 0.00562206" />
         <joint name="box_joint" pos="0 0 0" axis="0 0 1" range="-0.253073 2.36492" actuatorfrcrange="-10 10" />
         <geom name="box_lid" size="0.134 0.175 0.005" pos="0.126009 0.038258 -7e-05" quat="-0.701049 0.701067 0.0922885 -0.0922909" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />