From a39e99af741f0f4fdf92c4807aa55a544b341fdb Mon Sep 17 00:00:00 2001 From: Vittorio-Caggiano Date: Sun, 10 May 2026 18:06:04 -0400 Subject: [PATCH] =?UTF-8?q?fix:=20MuJoCo=203.x=20compat=20=E2=80=94=20remo?= =?UTF-8?q?ve=20convexhull,=20fix=20include=20paths,=20fix=20MPL=5Fhand=20?= =?UTF-8?q?class?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Bug 1 (arms_assets.xml): Remove deprecated `convexhull="false"` compiler attribute removed in MuJoCo 3.x. Bug 2 (arms_chain.xml): Fix include paths from `./../../MPL_sim/assets/simpleHand*.xml` to simple relative `simpleHand*.xml`. The old paths assumed a submodule layout where MPL_sim is a sibling directory; the pip package layout has all assets in one directory. Bug 3 (arms_assets.xml + simpleHandR_assets.xml): Define `MPL_hand` default class as a child of `MPL_arm` in arms_assets.xml so it is always available when the combined arms+hands model is loaded. Remove the duplicate top-level `MPL_hand` default from simpleHandR_assets.xml (which caused "unknown default class MPL_hand" when included alongside arms_assets.xml because MuJoCo requires child-class defaults to be nested). Bug 4 (simpleHandL_chain.xml + simpleHandR_chain.xml): No change needed — `childclass="MPL_hand"` on body elements is correct once MPL_hand is properly defined as a nested child default. These bugs are currently worked around at runtime by myosuite's patching layer in myosuite/utils/simhive_assets.py. Once this PR merges and a new mpl_sim release is cut, that patching layer can be removed. --- assets/arms_assets.xml | 8 +++++++- assets/arms_chain.xml | 4 ++-- assets/simpleHandR_assets.xml | 9 --------- 3 files changed, 9 insertions(+), 12 deletions(-) diff --git a/assets/arms_assets.xml b/assets/arms_assets.xml index f03277b..b8317d7 100644 --- a/assets/arms_assets.xml +++ b/assets/arms_assets.xml @@ -1,6 +1,6 @@ - +