7oponaut

Adroit hand dense reward fixes

3

* fix hand-to-object dense reward component sign in adroit hand door, hammer, and relocate scenarios # Description This PR fixes the hand-to-object dense reward component signs in the adroit hand...

google_barkour_vb/scene_hfield_mjx.xml - robot sinks into the floor

1

**Which model is the issue affecting?** google_barkour_vb/scene_hfield_mjx.xml **What is the issue?** Issue 1) The robot sinks into and falls below the floor when I simulate the scene using the (non-jax)...

mujoco.mj_geomDistance() returns negative values for non-colliding (sphere, hfield) geom pairs

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mujoco.mj_geomDistance() returns negative values for non-colliding (sphere, hfield) geom pairs. In contrast, when testing with (sphere, plane) geom pairs, the function returns positive values as expected. I am using the...