Cannot enable collision

[kaaatsu32329]

I tried to run reinforcement learning program with robotic arm, referenced on example code.

My scene rigid_options is like below. But the blocks keep falling from the plane.

Please tell me how to enable collisions.

dt=0.01
gravity=(0.0,0.0,-9.81)
enable_collision=True
enable_joint_limit=True
enable_self_collision=True
enable_adjacent_collision=False
disable_constraint=False
max_collision_pairs=300
integrator=<gs.integrator.approximate_implicitfast:2>
IK_max_targets=6
batch_links_info=False
batch_joints_info=False
batch_dofs_info=False
constraint_solver=<gs.constraint_solver.Newton:1>
iterations=50
tolerance=1e-08
ls_iterations=50
ls_tolerance=0.01
sparse_solve=False
contact_resolve_time=None
constraint_timeconst=0.01
use_contact_island=False
box_box_detection=True
use_hibernation=False
hibernation_thresh_vel=0.001
hibernation_thresh_acc=0.01
max_dynamic_constraints=8
enable_multi_contact=True
enable_mujoco_compatibility=False
use_gjk_collision=True

Untitled.Project.mp4

[duburcqa]

Can you share a reproduction script? Collision is supposed to be enabled by default, so there must be something wrong happening here.

[kaaatsu32329]

Thank you for your reply. My environment setup is like this.

class So101Env:
    def __init__(
        self,
        num_envs,
        env_cfg,
        reward_cfg,
        robot_cfg,
        show_viewer=False,
    ):
        self.num_envs = num_envs
        self.num_obs = env_cfg["num_obs"]
        self.num_privileged_obs = None
        self.num_actions = env_cfg["num_actions"]
        self.device = gs.device

        self.max_episode_length = math.ceil(env_cfg["episode_length_s"] / 0.01)

        # configs
        self.env_cfg = env_cfg
        self.reward_scales = reward_cfg
        self.action_scales = torch.tensor(env_cfg["action_scales"], device=self.device)

        # == setup scene ==
        self.scene = gs.Scene(
            sim_options=gs.options.SimOptions(dt=0.01, substeps=2),
            viewer_options=gs.options.ViewerOptions(
                max_FPS=int(0.5 / 0.01),
                camera_pos=(2.0, 0.0, 2.5),
                camera_lookat=(0.0, 0.0, 0.5),
                camera_fov=40,
            ),
            vis_options=gs.options.VisOptions(
                rendered_envs_idx=list(range(10)),
                show_world_frame=False,
            ),
            rigid_options=gs.options.RigidOptions(dt=0.01),
            profiling_options=gs.options.ProfilingOptions(show_FPS=False),
            show_viewer=show_viewer,
        )

        # == add ground ==
        self.scene.add_entity(gs.morphs.Plane())

        # == add robot ==
        self.robot = Manipulator(
            num_envs=self.num_envs,
            scene=self.scene,
            args=robot_cfg,
            device=gs.device,
        )

        # == add object ==
        self.object = self.scene.add_entity(
            gs.morphs.Box(
                size=[0.025, 0.025, 0.025],
                fixed=False,
                collision=True,
            ),
            # material=gs.materials.Rigid(gravity_compensation=1),
            surface=gs.surfaces.Rough(
                diffuse_texture=gs.textures.ColorTexture(
                    color=(1.0, 0.0, 0.0),
                ),
            ),
        )

        # == add camera ==
        self.cam = self.scene.add_camera(
            res=(1280, 720),
            pos=(1.5, 0.0, 0.2),
            lookat=(0, 0, 0.2),
            fov=50,
            GUI=True,
        )

        # build
        self.scene.build(n_envs=num_envs)

   def step(self, actions):
        self.scene.step()


class Manipulator:
    def __init__(self, num_envs: int, scene: gs.Scene, args: dict, device: str = "gpu"):
        self._device = device
        self._scene = scene
        self._num_envs = num_envs
        self._args = args

        # == Genesis configurations ==
        material: gs.materials.Rigid = gs.materials.Rigid()
        morph: gs.morphs.URDF = gs.morphs.MJCF(
            file="urdf/SO101/so101_new_calib.xml",
        )
        self._robot_entity: gs.Entity = scene.add_entity(material=material, morph=morph)

The XML file is same as this.

[duburcqa]

This is actually due to a bug in the implementation of the frictionloss. Nothing is wrong with this code. It will work without any modification once the bug is fixed.

[kaaatsu32329]

I see. Thank you!

[duburcqa]

The fix is on its way to main! #1555

[kaaatsu32329]

HI, the simulation is working well. Thank you so much!

[duburcqa]

Of course it is! Enjoy :)