erikfrey

diff --git a/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml b/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml
index 50b0eba..15f8c95 100644
--- a/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml
+++ b/mujoco_playground/_src/manipulation/leap_hand/xmls/leap_rh_mjx.xml
@@ -1,14 +1,14 @@
 <mujoco model="leap_rh">
   <compiler angle="radian" autolimits="true"/>
 
-  <option timestep="0.01" integrator="Euler" iterations="5" ls_iterations="8">
+  <option timestep="0.01" integrator="Euler">

erikfrey

diff --git a/benchmark/apptronik_apollo/apptronik_apollo.xml b/benchmark/apptronik_apollo/apptronik_apollo.xml
index e563bfd..e2b0a84 100644
--- a/benchmark/apptronik_apollo/apptronik_apollo.xml
+++ b/benchmark/apptronik_apollo/apptronik_apollo.xml
@@ -1,7 +1,7 @@
 <mujoco model="apptronik_apollo">
     <compiler angle="radian" eulerseq="zyx"/>
 
-    <option timestep="0.005" integrator="Euler">
+    <option timestep="0.005" integrator="Euler" iterations="3" ls_iterations="5">

erikfrey

<mujoco model="01 Humanoids">
  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
    <flag eulerdamp="disable"/>
  </option>

  <custom>
    <numeric data="4" name="max_contact_points"/>
  </custom>

erikfrey

<mujoco model="01 Humanoids">
  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
    <flag eulerdamp="disable"/>
  </option>

  <custom>
    <numeric data="4" name="max_contact_points"/>
  </custom>

erikfrey

<mujoco model="a1">
  <compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>

  <!-- brax doesn't support eliptic friction -->
  <option impratio="100"/>

  <default>
    <default class="a1">
      <geom friction="0.6" margin="0.001"/>
      <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>

erikfrey

erikfrey

visualization not supported
visualization not supported
visualization not supported
visualization not supported
Loading ../models/model_ho_female_5_reduced.pkl
MODEL model_ho_female_5_reduced
GENDER female
loading ../MPI-FAUST/test/scans/test_scan_033.ply
/System/Library/Frameworks/Python.framework/Versions/2.7/Extras/lib/python/scipy/sparse/coo.py:200: VisibleDeprecationWarning: `rank` is deprecated; use the `ndim` attribute or function instead. To find the rank of a matrix see `numpy.linalg.matrix_rank`.
  if np.rank(self.data) != 1 or np.rank(self.row) != 1 or np.rank(self.col) != 1:

erikfrey

# skip intro
startup_message off

# print wackier status messages
nethack on

caption string "%?%F%{= Bk}%? %C%A %D %d-%m-%Y %{= kB} %t%= %?%F%{= Bk}%:%{= wk}%? %n "
hardstatus alwayslastline
hardstatus string '%{= kG}[ %{G}%H %{g}][%= %{= kw}%?%-Lw%?%{r}(%{W}%n*%f%t%?(%u)%?%{r})%{w}%?%+Lw%?%?%= %{g}][%{B} %d/%m %{W}%c %{g}]'

erikfrey

{
    "left_pkey": ["ENTITY/PERSON/48812/J._J._Abrams"],
    "right_pkey": ["the remake of ENTITY/WORK/1168041/Star_Trek_-LRB-film-RRB-"],
    "rel": "<person> direct <work>",
    "subpaths":
    [
        {
            "rel": "on <date>",
            "pkey": "ENTITY/DATE/201303"
        },

erikfrey

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