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fix: MuJoCo 3.x compat — remove convexhull, fix MPL_hand class, fix include paths #1

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Merged
Vittorio-Caggiano merged 2 commits into from
May 10, 2026
Merged

fix: MuJoCo 3.x compat — remove convexhull, fix MPL_hand class, fix include paths #1

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a39e99a
fix: MuJoCo 3.x compat — remove convexhull, fix include paths, fix MP…
Vittorio-Caggiano May 10, 2026
36ed643
Merge branch 'myochallenge' into fix/mujoco3-compat
Vittorio-Caggiano May 10, 2026
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8 changes: 7 additions & 1 deletion assets/arms_assets.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<mujocoinclude>

<compiler angle="radian" meshdir="./../" texturedir='../scenes/' />
<compiler angle="radian" meshdir="./../" texturedir='../scenes/'/>
<size nconmax="1000" njmax="5000"/>
<option timestep="0.002"/>

Expand All @@ -12,6 +12,12 @@
<default class="MPL_arm_dark">
<geom rgba=".1 .13 .13 1"/>
</default>
<default class="MPL_hand">
<geom condim="6" contype="2" conaffinity="1" rgba=".9 .9 .9 1" type="mesh" material="matmetal"/>
<site type="sphere" size="0.005" group="0"/>
<joint damping="6" limited="true"/>
<position kp="10" ctrllimited="true"/>
</default>
</default>
</default>

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4 changes: 2 additions & 2 deletions assets/arms_chain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
<geom mesh="forearm_linkR" class="MPL_arm_dark"/>

<!-- RIGHT HAND -->
<include file="./../../MPL_sim/assets/simpleHandR_chain.xml"/>
<include file="simpleHandR_chain.xml"/>

</body>
</body>
Expand All @@ -60,7 +60,7 @@
<geom mesh="forearm_linkL" class="MPL_arm_dark"/>

<!-- LEFT HAND -->
<include file="./../../MPL_sim/assets/simpleHandL_chain.xml"/>
<include file="simpleHandL_chain.xml"/>

</body>
</body>
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9 changes: 0 additions & 9 deletions assets/simpleHandR_assets.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,15 +19,6 @@ for the specific language governing permissions and limitations under the Licens

<mujocoinclude>

<default>
<default class="MPL_hand">
<geom condim="6" contype="2" conaffinity="1" rgba=".9 .9 .9 1" type="mesh" material="matmetal"/>
<site type="sphere" size="0.005" group="0"/>
<joint damping="6" limited="true"/>
<position kp="10" ctrllimited="true"/>
</default>
</default>

<asset>
<mesh file="meshes/mplR/wrist_rot_link-cvx.stl" name="wrist_rot_linkR"/>
<mesh file="meshes/mplR/wrist_dev_link-cvx.stl" name="wrist_dev_linkR"/>
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