Many people dont know but Mujoco cpu and MJWarp do have different implementations. The main difference we identified is how the engines represent contact between the cylindrical can and the fingers. At the exact same hand and can pose, CPU Mujoco generated 15 hand can contact points, versus 4 in the original MJWarp implementation. Those points determine the forces and friction supporting the grip. So TLDR, we asked astra to make an expert video which looked successful but we didnt know that it used normal Mujoco so our MJWarp in sim could never perform the action correctly.
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