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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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Are sphere-cylinder collisions implemented in MuJoCo v.3.1.4? #1632

Closed r-aristov closed 6 months ago

r-aristov commented 6 months ago

Hello. I am having exception when trying to put model to device using mjx.put_model(model):

NotImplementedError: (mjtGeom.mjGEOM_SPHERE, mjtGeom.mjGEOM_CYLINDER) has no collision function.

I looked in changelog and found this entry:

Version 2.3.7 (July 20, 2023) General Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.

I was under the impression that sphere-cylinder collisions are implemented - am I doing something wrong or there are really no sphere-cylinder collisions in MuJoCo-MJX v.3.1.4?

The model is Ant from Brax, I just switched floor plane to cylinder (trying to make arena for ants).

r-aristov commented 6 months ago

It seems that implemented in collision_driver.py collisions with cylinder are:

Well, I guess I have to wait until next version while ants are fighting on square arena then.