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Update MuJoCo setting for stable manipluation #50

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Merged
kou merged 3 commits into from
Aug 26, 2026
Merged

Update MuJoCo setting for stable manipluation #50

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dba11e7
try elliptic with impratio 10
k1000dai Aug 17, 2026
79b7d45
armature
k1000dai Aug 17, 2026
05a36c7
fix ci test
k1000dai Aug 26, 2026
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2 changes: 2 additions & 0 deletions v2/cell/articulated_cell_scene.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@ defaults.
<mujoco model="openarm_v20_articulated_cell">
<compiler angle="radian"/>

<option cone="elliptic" impratio="10"/>

<default>
<default class="fixture">
<geom type="box" contype="1" conaffinity="1" friction="1 0.01 0.01" rgba="0.55 0.45 0.32 1"/>
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2 changes: 2 additions & 0 deletions v2/cell/bottle_cell_scene.xml
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Expand Up @@ -24,6 +24,8 @@ cell table top z=1.005). The cell provides floor, lights, cameras and the
<mujoco model="openarm_v20_bottle_cell">
<compiler angle="radian"/>

<option cone="elliptic" impratio="10"/>

<default>
<default class="visual">
<geom contype="0" conaffinity="0" group="2"/>
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2 changes: 1 addition & 1 deletion v2/cell/cell.xml
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Expand Up @@ -37,7 +37,7 @@ limitations under the License.
</default>

<statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/cell/demo.xml
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Expand Up @@ -18,7 +18,7 @@ limitations under the License.
<compiler angle="radian"/>

<statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/cell/move_puck_cell_scene.xml
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Expand Up @@ -25,7 +25,7 @@ cell table top z=1.005). The cell provides floor, lights, cameras and the
<compiler angle="radian"/>

<statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/cell/peg_socket_cell_scene.xml
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Expand Up @@ -25,7 +25,7 @@ the "home" keyframe via <attach>; the peg starts at its body-pos default.
<compiler angle="radian"/>

<statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/cell/tool_cell_scene.xml
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Expand Up @@ -26,7 +26,7 @@ at their body-pos defaults.
<compiler angle="radian"/>

<statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 2 additions & 0 deletions v2/cell/valve_cell_scene.xml
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Expand Up @@ -24,6 +24,8 @@ cell table top z=1.005). The cell provides floor, lights, cameras and the
<mujoco model="openarm_v20_valve_cell">
<compiler angle="radian"/>

<option cone="elliptic" impratio="10"/>

<default>
<default class="fixture">
<geom type="box" contype="1" conaffinity="1" friction="1 0.01 0.01" rgba="0.55 0.45 0.32 1"/>
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54 changes: 37 additions & 17 deletions v2/openarm_bimanual.xml
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Expand Up @@ -36,7 +36,11 @@ limitations under the License.
<motor forcelimited="true" forcerange="-7 7" />
</default>
<default class="motor_finger">
<joint limited="true" type="hinge" damping="2" />
<!-- The finger joints are the only driven joints without rotor inertia;
holding an object with a partly closed jaw made them ring against
the contact at ~11 Hz. Matches the DM4310 armature the finger
actuator is tuned as. -->
<joint limited="true" type="hinge" damping="2" armature="0.01" />
<position forcelimited="true" forcerange="-333 333" ctrllimited="true" ctrlrange="0 0.7854" />
</default>
<default class="lifter">
Expand All @@ -61,13 +65,29 @@ limitations under the License.
<default class="collision">
<geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
<equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
<!-- The fingertips grip with condim=4, which activates the torsional
friction coefficient (the second entry of friction) so a pinched
object cannot spin about the pinch axis. 0.01 m is the effective
radius of the pad's contact patch; rolling friction stays off. -->
<default class="fingertip">
<geom condim="4" />
</default>
</default>
<default class="visual">
<geom material="visualgeom" contype="0" conaffinity="0" group="2" />
</default>
</default>
</default>
<compiler angle="radian" meshdir="assets" />

<!-- Grasping needs the elliptic friction cone: under the default pyramidal
cone a pinched object creeps out of the jaws under load however high the
friction coefficients are, and impratio raises the stiffness of the
friction constraints relative to the normal ones so a firmly held object
stops sliding on the pads. <option> does not carry across <attach>, so
every scene repeats these two settings. -->
<option cone="elliptic" impratio="10"/>

<asset>
<material name="collision_material" rgba="0.8 0.2 0.2 0.5" />
<material name="visualgeom" rgba="0.7 0.7 0.7 1" />
Expand Down Expand Up @@ -239,21 +259,21 @@ limitations under the License.
<geom name="finger_inner_left_00" type="mesh" mesh="finger_inner_left_00" class="visual" material="matte_black" />
<geom name="finger_inner_left_01" type="mesh" mesh="finger_inner_left_01" class="visual" material="matte_black" />
<geom name="finger_inner_left_02" type="mesh" mesh="finger_inner_left_02" class="visual" material="pale_silver" />
<geom name="finger_inner_left_collision_00" type="mesh" mesh="finger_inner_left_collision_00" class="collision" />
<geom name="finger_inner_left_collision_01" type="mesh" mesh="finger_inner_left_collision_01" class="collision" />
<geom name="finger_inner_left_collision_02" type="mesh" mesh="finger_inner_left_collision_02" class="collision" />
<geom name="finger_inner_left_collision_03" type="mesh" mesh="finger_inner_left_collision_03" class="collision" />
<geom name="finger_inner_left_collision_00" type="mesh" mesh="finger_inner_left_collision_00" class="fingertip" />
<geom name="finger_inner_left_collision_01" type="mesh" mesh="finger_inner_left_collision_01" class="fingertip" />
<geom name="finger_inner_left_collision_02" type="mesh" mesh="finger_inner_left_collision_02" class="fingertip" />
<geom name="finger_inner_left_collision_03" type="mesh" mesh="finger_inner_left_collision_03" class="fingertip" />
</body>
<body name="openarm_left_ee_outer_finger" pos="-0.00143 0.018 -0.068">
<inertial pos="-0.012796 0.0020183 -0.026792" quat="0.982097 -0.0906989 -0.165079 0.00294117" mass="0.11372" diaginertia="3.70662e-05 3.60159e-05 1.33599e-05" />
<joint name="openarm_left_finger_joint2" pos="0 0 0" axis="1 0 0" range="0 0.7854" actuatorfrcrange="-10 10" class="motor_finger" />
<geom name="finger_outer_left_00" type="mesh" mesh="finger_outer_left_00" class="visual" material="matte_black" />
<geom name="finger_outer_left_01" type="mesh" mesh="finger_outer_left_01" class="visual" material="matte_black" />
<geom name="finger_outer_left_02" type="mesh" mesh="finger_outer_left_02" class="visual" material="pale_silver" />
<geom name="finger_outer_left_collision_00" type="mesh" mesh="finger_outer_left_collision_00" class="collision" />
<geom name="finger_outer_left_collision_01" type="mesh" mesh="finger_outer_left_collision_01" class="collision" />
<geom name="finger_outer_left_collision_02" type="mesh" mesh="finger_outer_left_collision_02" class="collision" />
<geom name="finger_outer_left_collision_03" type="mesh" mesh="finger_outer_left_collision_03" class="collision" />
<geom name="finger_outer_left_collision_00" type="mesh" mesh="finger_outer_left_collision_00" class="fingertip" />
<geom name="finger_outer_left_collision_01" type="mesh" mesh="finger_outer_left_collision_01" class="fingertip" />
<geom name="finger_outer_left_collision_02" type="mesh" mesh="finger_outer_left_collision_02" class="fingertip" />
<geom name="finger_outer_left_collision_03" type="mesh" mesh="finger_outer_left_collision_03" class="fingertip" />
</body>
</body>
</body>
Expand Down Expand Up @@ -327,21 +347,21 @@ limitations under the License.
<geom name="finger_inner_right_00" type="mesh" mesh="finger_inner_right_00" class="visual" material="matte_black" />
<geom name="finger_inner_right_01" type="mesh" mesh="finger_inner_right_01" class="visual" material="matte_black" />
<geom name="finger_inner_right_02" type="mesh" mesh="finger_inner_right_02" class="visual" material="pale_silver" />
<geom name="finger_inner_right_collision_00" type="mesh" mesh="finger_inner_right_collision_00" class="collision" />
<geom name="finger_inner_right_collision_01" type="mesh" mesh="finger_inner_right_collision_01" class="collision" />
<geom name="finger_inner_right_collision_02" type="mesh" mesh="finger_inner_right_collision_02" class="collision" />
<geom name="finger_inner_right_collision_03" type="mesh" mesh="finger_inner_right_collision_03" class="collision" />
<geom name="finger_inner_right_collision_00" type="mesh" mesh="finger_inner_right_collision_00" class="fingertip" />
<geom name="finger_inner_right_collision_01" type="mesh" mesh="finger_inner_right_collision_01" class="fingertip" />
<geom name="finger_inner_right_collision_02" type="mesh" mesh="finger_inner_right_collision_02" class="fingertip" />
<geom name="finger_inner_right_collision_03" type="mesh" mesh="finger_inner_right_collision_03" class="fingertip" />
</body>
<body name="openarm_right_ee_outer_finger" pos="-0.00143 -0.018 -0.068">
<inertial pos="-0.012796 -0.0020183 -0.026792" quat="0.982097 0.0906989 -0.165079 -0.00294117" mass="0.11372" diaginertia="3.70662e-05 3.60159e-05 1.33599e-05" />
<joint name="openarm_right_finger_joint2" pos="0 0 0" axis="1 0 0" range="-0.7854 0" actuatorfrcrange="-10 10" class="motor_finger" />
<geom name="finger_outer_right_00" type="mesh" mesh="finger_outer_right_00" class="visual" material="matte_black" />
<geom name="finger_outer_right_01" type="mesh" mesh="finger_outer_right_01" class="visual" material="matte_black" />
<geom name="finger_outer_right_02" type="mesh" mesh="finger_outer_right_02" class="visual" material="pale_silver" />
<geom name="finger_outer_right_collision_00" type="mesh" mesh="finger_outer_right_collision_00" class="collision" />
<geom name="finger_outer_right_collision_01" type="mesh" mesh="finger_outer_right_collision_01" class="collision" />
<geom name="finger_outer_right_collision_02" type="mesh" mesh="finger_outer_right_collision_02" class="collision" />
<geom name="finger_outer_right_collision_03" type="mesh" mesh="finger_outer_right_collision_03" class="collision" />
<geom name="finger_outer_right_collision_00" type="mesh" mesh="finger_outer_right_collision_00" class="fingertip" />
<geom name="finger_outer_right_collision_01" type="mesh" mesh="finger_outer_right_collision_01" class="fingertip" />
<geom name="finger_outer_right_collision_02" type="mesh" mesh="finger_outer_right_collision_02" class="fingertip" />
<geom name="finger_outer_right_collision_03" type="mesh" mesh="finger_outer_right_collision_03" class="fingertip" />
</body>
</body>
</body>
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2 changes: 1 addition & 1 deletion v2/pedestal/articulated_scene.xml
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Expand Up @@ -29,7 +29,7 @@ for either arm. (The turnable valve lives in valve_scene.xml.)
</default>

<statistic center="0.30 0 0.55" extent="1.2" meansize="0.05"/>
<option timestep="0.001"/>
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/balance_scene.xml
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Expand Up @@ -24,7 +24,7 @@ it at runtime after posing the arm.
<compiler meshdir="../assets" angle="radian"/>

<statistic center="0.30 -0.05 0.60" extent="1.1" meansize="0.05"/>
<option timestep="0.001"/>
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/bottle_scene.xml
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Expand Up @@ -33,7 +33,7 @@ the cap let either arm grasp and unscrew it.
</default>

<statistic center="0.30 0 0.55" extent="1.2" meansize="0.05"/>
<option timestep="0.001"/>
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/catch_scene.xml
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Expand Up @@ -32,7 +32,7 @@ two-ball catch.
<compiler meshdir="../assets" angle="radian"/>

<statistic center="0.3 -0.2 0.9" extent="1.4" meansize="0.05"/>
<option timestep="0.001"/>
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/move_puck_scene.xml
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Expand Up @@ -24,7 +24,7 @@ puck can be pushed to a goal with the closed gripper, or grasped and placed
<compiler meshdir="../assets" angle="radian"/>

<statistic center="0 0 0.6" extent="1.1" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 2 additions & 0 deletions v2/pedestal/openarm_pedestal.xml
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Expand Up @@ -24,6 +24,8 @@ Scene furniture (floor, lights, cameras, keyframes) stays in the scenes.
<mujoco model="openarm_pedestal">
<compiler meshdir="../assets" angle="radian"/>

<option cone="elliptic" impratio="10"/>

<default>
<default class="pedestal_visual">
<geom contype="0" conaffinity="0" group="2" />
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2 changes: 1 addition & 1 deletion v2/pedestal/pedestal.xml
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Expand Up @@ -18,7 +18,7 @@ limitations under the License.
<compiler meshdir="../assets" angle="radian"/>

<statistic center="1.3 0 0.6" extent="3.5" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/peg_socket_scene.xml
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Expand Up @@ -25,7 +25,7 @@ it needs no yaw alignment.
<compiler meshdir="../assets" angle="radian"/>

<statistic center="0 0 0.6" extent="1.1" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/throw_multi_scene.xml
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Expand Up @@ -25,7 +25,7 @@ cell table. The "throw_ready" keyframe is a wind-up-adjacent start pose.
<compiler meshdir="../assets" angle="radian"/>

<statistic center="0.4 -0.1 0.5" extent="1.4" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/throw_scene.xml
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Expand Up @@ -26,7 +26,7 @@ table - the large tabletop would cover the bin's landing area. The
<compiler meshdir="../assets" angle="radian"/>

<statistic center="0.4 -0.1 0.5" extent="1.4" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/tool_scene.xml
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Expand Up @@ -24,7 +24,7 @@ even farther goal marker.
<compiler meshdir="../assets" angle="radian"/>

<statistic center="0 0 0.6" extent="1.2" meansize="0.05"/>
<option timestep="0.001" />
<option timestep="0.001" cone="elliptic" impratio="10" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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2 changes: 1 addition & 1 deletion v2/pedestal/valve_scene.xml
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Expand Up @@ -28,7 +28,7 @@ graspable knob at the lever tip and inactive grasp welds for either arm.
</default>

<statistic center="0.30 0 0.55" extent="1.2" meansize="0.05"/>
<option timestep="0.001"/>
<option timestep="0.001" cone="elliptic" impratio="10"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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4 changes: 4 additions & 0 deletions web/main.js
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Expand Up @@ -224,6 +224,10 @@ class App {

async loadScene(scenePath) {
this.disposeScene();
// The scene-switch handler writes "loading…" straight into the status
// element behind updateStatus's cache; drop the cache, or a scene that
// settles to the exact same status text would never repaint over it.
this.lastStatus = null;
this.scenePath = scenePath;
this.teleop.reset();
this.lifterHeight = 0;
Expand Down