Open Narsimha-swamy opened 6 days ago
Hi @Narsimha-swamy , the video is empty. AFAIK the base Aloha XML files have good defaults, we have been using these files for some time. I would expect the objects you are adding need their physics parameters tuned. Remember to turn on MultiCCD.
For some reason the videos I upload are not showing, I am uploading a drive link in case.
Which scene are you loading? How to repro?
Hi, I included the scene.xml from aloha into new scene and added a cube to it
<mujoco>
<include file="scene.xml"/>
<worldbody>
<body name="box" pos="0 0 0.02">
<joint name="box_joint" type="free" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
</body>
</worldbody>
<option gravity="0 0 -9.8" timestep="0.02" />
</mujoco>
Which model is the issue affecting? ALOHA2 What is the issue? I am using Aloha 2 models for real-to-sim teleoperation, and I am able to send data from real robots to robots in the sim and control them, but collisions between objects seem to be off as robots are passing through objects in the scene. Is there a way to know if collisions or contact physics, in general, were implemented in the ALOHA2 XML files?. I uploaded a video of the simulation, can you let me know what seems to be the problem.
https://github.com/user-attachments/assets/c31de7ff-7134-42fe-858d-80cd26da2efc
Is there any additional context you can provide (e.g., a spec sheet or a URDF to show a value mismatch)?