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Published 20 hours ago • verified publisher icon google-deepmind

how to fix object sliding problem

Open vaesong opened this issue 2 years ago • 3 comments

Hi,

I'm a student and I'm trying to use Mujoco for reinforcement learning

I'm having some trouble simulating the xml object file that the object keep sliding on the table. Is there a problem with my xml file?

video_eval_0

<mujoco model="FrontCamera">
    <asset>
      <mesh name="base" scale="2 2 2" file="../meshes/base_link_scale2.STL" />
    </asset>
    <worldbody>
      <body>
        <body name="object" >
          <geom pos="0 0 0" quat="0.7 -0.7 0 0" mesh="base" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="1000" friction="1000 1000 1000" contype="0" conaffinity="0" group="1" condim="3"/>
          <geom pos="0 0 0" quat="0.7 -0.7 0 0" mesh="base" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="1000" friction="1000 1000 1000" group="0" condim="3"/>
        </body>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.082" name="bottom_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 0.075" name="top_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="0.0254 0.0254 0" name="horizontal_radius_site"/>
      </body>
    </worldbody>

</mujoco>

vaesong avatar Aug 08 '22 12:08 vaesong

Can you attach a minimal XML file with the table and the object so that I can debug locally?

kevinzakka avatar Aug 09 '22 20:08 kevinzakka

Try this.

yuvaltassa avatar Aug 10 '22 00:08 yuvaltassa

Can you attach a minimal XML file with the table and the object so that I can debug locally? @kevinzakka Thanks, here are the mesh, and xml files. import_object.zip .

vaesong avatar Aug 10 '22 05:08 vaesong

@vaesong Did you try the multiccd option?

kevinzakka avatar Aug 15 '22 22:08 kevinzakka

@vaesong Did you try the multiccd option?

Yes, I have tried it, but it didn't work.

vaesong avatar Aug 16 '22 01:08 vaesong

This friction value is absurd. Delete that. Can you try composing your moving object out of several geoms?

yuvaltassa avatar Aug 16 '22 17:08 yuvaltassa