How to stop Franka finger pad color override to white #170
Description
mujoco_playground/mujoco_playground/_src/manipulation/franka_emika_panda/pick_cartesian.py
def modify_model(self, mj_model: mujoco.MjModel):
# Expand floor size to non-zero so Madrona can render it
mj_model.geom_size[mj_model.geom('floor').id, :2] = [5.0, 5.0]
# # Make the finger pads white for increased visibility
# mesh_id = mj_model.mesh('finger_1').id
# geoms = [
# idx
# for idx, data_id in enumerate(mj_model.geom_dataid)
# if data_id == mesh_id
# ]
# mj_model.geom_matid[geoms] = mj_model.mat('off_white').id
return mj_model
I've tried commenting out the block of code responsible for making the finger pads white but when I compile the environment I still see the white finger pads.
