Fix #183.

PiperOrigin-RevId: 797911145
Change-Id: I6ad2e60ddbf559b78b009d3fc3161b72bf809eb7

Author: btaba

mujoco_playground/_src/locomotion/t1/randomize.py

@@ -75,13 +75,6 @@ def rand_dynamics(rng):
     actuator_gainprm = model.actuator_gainprm.at[:, 0].set(kp)
     actuator_biasprm = model.actuator_biasprm.at[:, 1].set(-kp)
 
-    # Joint damping: *U(0.9, 1.1).
-    rng, key = jax.random.split(rng)
-    kd = model.dof_damping[6:] * jax.random.uniform(
-        key, (23,), minval=0.9, maxval=1.1
-    )
-    dof_damping = model.dof_damping.at[6:].set(kd)
-
     # Higher range on the ankles.
     rng, key = jax.random.split(rng)
     kd = model.dof_damping[ANKLE_JOINT_IDS] * jax.random.uniform(

mujoco_playground/_src/manipulation/leap_hand/reorient.py

@@ -511,13 +511,7 @@ def domain_randomize(model: mjx.Model, rng: jax.Array):
 
   @jax.vmap
   def rand(rng):
-    # Cube friction: =U(0.1, 0.5).
     rng, key = jax.random.split(rng)
-    cube_friction = jax.random.uniform(key, (1,), minval=0.1, maxval=0.5)
-    geom_friction = model.geom_friction.at[
-        cube_geom_id : cube_geom_id + 1, 0
-    ].set(cube_friction)
-
     # Fingertip friction: =U(0.5, 1.0).
     fingertip_friction = jax.random.uniform(key, (1,), minval=0.5, maxval=1.0)
     geom_friction = model.geom_friction.at[fingertip_geom_ids, 0].set(
@@ -527,8 +521,6 @@ def rand(rng):
     # Scale cube mass: *U(0.8, 1.2).
     rng, key1, key2 = jax.random.split(rng, 3)
     dmass = jax.random.uniform(key1, minval=0.8, maxval=1.2)
-    cube_mass = model.body_mass[cube_body_id]
-    body_mass = model.body_mass.at[cube_body_id].set(cube_mass * dmass)
     body_inertia = model.body_inertia.at[cube_body_id].set(
         model.body_inertia[cube_body_id] * dmass
     )

mujoco_playground/_src/manipulation/leap_hand/rotate_z.py

@@ -297,13 +297,7 @@ def domain_randomize(model: mjx.Model, rng: jax.Array):
 
   @jax.vmap
   def rand(rng):
-    # Cube friction: =U(0.1, 0.5).
     rng, key = jax.random.split(rng)
-    cube_friction = jax.random.uniform(key, (1,), minval=0.1, maxval=0.5)
-    geom_friction = model.geom_friction.at[
-        cube_geom_id : cube_geom_id + 1, 0
-    ].set(cube_friction)
-
     # Fingertip friction: =U(0.5, 1.0).
     fingertip_friction = jax.random.uniform(key, (1,), minval=0.5, maxval=1.0)
     geom_friction = model.geom_friction.at[fingertip_geom_ids, 0].set(
@@ -314,7 +308,6 @@ def rand(rng):
     rng, key1, key2 = jax.random.split(rng, 3)
     dmass = jax.random.uniform(key1, minval=0.8, maxval=1.2)
     cube_mass = model.body_mass[cube_body_id]
-    body_mass = model.body_mass.at[cube_body_id].set(cube_mass * dmass)
     body_inertia = model.body_inertia.at[cube_body_id].set(
         model.body_inertia[cube_body_id] * dmass
     )