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NVIDIA / warp

A Python framework for high performance GPU simulation and graphics
https://nvidia.github.io/warp/
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Importing mjcf #230

Open robots4us opened 3 months ago

robots4us commented 3 months ago

Hi! I am trying to import some robots from the mujoco menagrie. Eg. the shadow hand -> https://github.com/google-deepmind/mujoco_menagerie/blob/main/shadow_hand/right_hand.xml

However, I keep getting errors:

count_contact_points: unsupported geometry type combination 3 and 7 Unsupported geometry pair in collision handling

Can you recommend a quick fix? Thank you for this amazing simulator by the way. :)

eric-heiden commented 3 months ago

Hi @robots4us,

These geometry type numbers refer to the GEO_... constants, so 3 and 7 refer to GEO_CYLINDER and GEO_PLANE, see model.py.

Since we don't have rigid-body contacts implemented for cylinders yet, I would recommend swapping them out for capsules in the MJCF file for now.

robots4us commented 3 months ago

That worked. Thanks! :+1:

robots4us commented 3 months ago

On closer inspection, the XML is imported fine, but some joint axes and joint limits are incorrect. In particular, anything that is declared at the beginning of the XML and used later has not been imported correctly. I wrote a script to read the .XML and change the warp.sim.Model. Is there something I might be doing incorrectly or any other workarounds?