fix: MuJoCo 3.x compat — remove convexhull, fix MPL_hand class, fix include paths#1
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…L_hand class 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.
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Summary
This PR fixes four XML bugs in the MPL_sim asset files that cause runtime errors with MuJoCo 3.x. These bugs are currently worked around by myosuite's patching layer in
myosuite/utils/simhive_assets.py; once this PR merges and a new release is cut, that layer can be removed.Bug 1 —
arms_assets.xml: deprecatedconvexhullcompiler attributeMuJoCo 3.x removed the
convexhullcompiler attribute. Removedconvexhull="false"from the<compiler>element.Bug 2 —
arms_chain.xml: broken include pathsLines 37 and 63 used paths like
./../../MPL_sim/assets/simpleHandR_chain.xmlwhich assumed a submodule layout (MPL_sim as a sibling directory). In the pip package, all assets are in the same directory. Fixed to simple relative paths:Bug 3 —
simpleHandR_assets.xml+arms_assets.xml: unknown default classMPL_handWhen
simpleHand*_assets.xmlfiles are included alongsidearms_assets.xml, MuJoCo throwsunknown default class MPL_handbecauseMPL_handwas defined as a top-level default insimpleHandR_assets.xmlrather than as a child ofMPL_arm. MuJoCo requires that child-class defaults be nested under their parent.Fix: moved the
MPL_handdefault as a nested child ofMPL_arminarms_assets.xml, and removed the duplicate top-level definition fromsimpleHandR_assets.xml.Bug 4 —
simpleHandL_chain.xml+simpleHandR_chain.xml:childclass="MPL_hand"No change needed —
childclass="MPL_hand"on body elements is correct now thatMPL_handis properly defined as a nested child default ofMPL_arm.Test plan
arms_chain.xml(combined with assets) in MuJoCo 3.x — no XML errorsmyosuitebimanual env loads cleanly:mujoco.MjModel.from_xml_path(resolved)succeedspytest myosuite/tests/test_tier_a_myochallenge_matrix.py— 19 passed, 0 failed🤖 Generated with Claude Code