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 :)

[Enea-Carlini]

Hi @kaaatsu32329, I am trying out a similar environment with the SO-101 arm, if you’re open to it, I’d love to see how you adapted the manipulation example code, especially the Manipulator class, or whether you have code you’d be willing to share. Thank you!

[kaaatsu32329]

Hi, I forgot where is the code. I'm sorry. But I think I could work them well with using GitHub latest version with same code above.
@Enea-Carlini

[Enea-Carlini]

No problem, thank you for the answer! @kaaatsu32329