Mixing
Custom mesh jittering in Mujoco environment in OpenAI gym
I've tried modifying the FetchPickAndPlace-v1 OpenAI environment to replace the cube with a pair of scissors. Everything works perfectly except for the fact that my custom mesh seems to jitter a few millimeters in and out of the table every few time steps. I've included a picture mid-jitter below:
As you can see, the scissors are caught mid-way through the surface of the table. How can I prevent this? All I've done is switch out the code for the cube in pick_and_place.xml with the asset related to the scissor mesh. Here's the code of interest:
<body name="object0" pos="0.0 0.0 0.0">
<joint name="object0:joint" type="free" damping="0.01"></joint>
<geom size="0.025 0.025 0.025" mesh="tool0:scissors" condim="3" name="object0" material="tool_mat" class="tool0:matte" mass="2"></geom>
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
I've tried playing around with the coordinates of the position and geometry but to no avail. Any tips? Replacing mesh="tool0:scissors" with type="box" gets rid of the problem entirely but I'm back to square one.
reinforcement-learning openai-gym
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
add a comment |
I've tried modifying the FetchPickAndPlace-v1 OpenAI environment to replace the cube with a pair of scissors. Everything works perfectly except for the fact that my custom mesh seems to jitter a few millimeters in and out of the table every few time steps. I've included a picture mid-jitter below:
As you can see, the scissors are caught mid-way through the surface of the table. How can I prevent this? All I've done is switch out the code for the cube in pick_and_place.xml with the asset related to the scissor mesh. Here's the code of interest:
<body name="object0" pos="0.0 0.0 0.0">
<joint name="object0:joint" type="free" damping="0.01"></joint>
<geom size="0.025 0.025 0.025" mesh="tool0:scissors" condim="3" name="object0" material="tool_mat" class="tool0:matte" mass="2"></geom>
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
I've tried playing around with the coordinates of the position and geometry but to no avail. Any tips? Replacing mesh="tool0:scissors" with type="box" gets rid of the problem entirely but I'm back to square one.
reinforcement-learning openai-gym
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
add a comment |
I've tried modifying the FetchPickAndPlace-v1 OpenAI environment to replace the cube with a pair of scissors. Everything works perfectly except for the fact that my custom mesh seems to jitter a few millimeters in and out of the table every few time steps. I've included a picture mid-jitter below:
As you can see, the scissors are caught mid-way through the surface of the table. How can I prevent this? All I've done is switch out the code for the cube in pick_and_place.xml with the asset related to the scissor mesh. Here's the code of interest:
<body name="object0" pos="0.0 0.0 0.0">
<joint name="object0:joint" type="free" damping="0.01"></joint>
<geom size="0.025 0.025 0.025" mesh="tool0:scissors" condim="3" name="object0" material="tool_mat" class="tool0:matte" mass="2"></geom>
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
I've tried playing around with the coordinates of the position and geometry but to no avail. Any tips? Replacing mesh="tool0:scissors" with type="box" gets rid of the problem entirely but I'm back to square one.
reinforcement-learning openai-gym
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
I've tried modifying the FetchPickAndPlace-v1 OpenAI environment to replace the cube with a pair of scissors. Everything works perfectly except for the fact that my custom mesh seems to jitter a few millimeters in and out of the table every few time steps. I've included a picture mid-jitter below:
As you can see, the scissors are caught mid-way through the surface of the table. How can I prevent this? All I've done is switch out the code for the cube in pick_and_place.xml with the asset related to the scissor mesh. Here's the code of interest:
<body name="object0" pos="0.0 0.0 0.0">
<joint name="object0:joint" type="free" damping="0.01"></joint>
<geom size="0.025 0.025 0.025" mesh="tool0:scissors" condim="3" name="object0" material="tool_mat" class="tool0:matte" mass="2"></geom>
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
I've tried playing around with the coordinates of the position and geometry but to no avail. Any tips? Replacing mesh="tool0:scissors" with type="box" gets rid of the problem entirely but I'm back to square one.
reinforcement-learning openai-gym
reinforcement-learning openai-gym
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
asked Nov 19 '18 at 20:23
cyrilcyril
1,23412045
1,23412045
add a comment |
add a comment |
1 Answer
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As suggested by Emo Todorov in the MuJoCo forums:
- Replace the ground box with a plane and
use MuJoCo 2.0. The latest version of the collision detector
generates multiple contacts between a mesh and a plane, which
results in more stable simulation. But this only works for
plane-mesh, not for box-mesh. - The better solution is to break the mesh into several meshes, and include them as multiple geoms in the same body. Then MuJoCo will construct the convex hull of each sub-mesh, resulting in multiple contact points (even without the special plane mechanism mentioned above) and furthermore it will be a better approximation to the actual object geometry.
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
add a comment |
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1 Answer
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1 Answer
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active
oldest
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active
oldest
votes
active
oldest
votes
As suggested by Emo Todorov in the MuJoCo forums:
- Replace the ground box with a plane and
use MuJoCo 2.0. The latest version of the collision detector
generates multiple contacts between a mesh and a plane, which
results in more stable simulation. But this only works for
plane-mesh, not for box-mesh. - The better solution is to break the mesh into several meshes, and include them as multiple geoms in the same body. Then MuJoCo will construct the convex hull of each sub-mesh, resulting in multiple contact points (even without the special plane mechanism mentioned above) and furthermore it will be a better approximation to the actual object geometry.
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
add a comment |
As suggested by Emo Todorov in the MuJoCo forums:
- Replace the ground box with a plane and
use MuJoCo 2.0. The latest version of the collision detector
generates multiple contacts between a mesh and a plane, which
results in more stable simulation. But this only works for
plane-mesh, not for box-mesh. - The better solution is to break the mesh into several meshes, and include them as multiple geoms in the same body. Then MuJoCo will construct the convex hull of each sub-mesh, resulting in multiple contact points (even without the special plane mechanism mentioned above) and furthermore it will be a better approximation to the actual object geometry.
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
add a comment |
As suggested by Emo Todorov in the MuJoCo forums:
- Replace the ground box with a plane and
use MuJoCo 2.0. The latest version of the collision detector
generates multiple contacts between a mesh and a plane, which
results in more stable simulation. But this only works for
plane-mesh, not for box-mesh. - The better solution is to break the mesh into several meshes, and include them as multiple geoms in the same body. Then MuJoCo will construct the convex hull of each sub-mesh, resulting in multiple contact points (even without the special plane mechanism mentioned above) and furthermore it will be a better approximation to the actual object geometry.
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
As suggested by Emo Todorov in the MuJoCo forums:
- Replace the ground box with a plane and
use MuJoCo 2.0. The latest version of the collision detector
generates multiple contacts between a mesh and a plane, which
results in more stable simulation. But this only works for
plane-mesh, not for box-mesh. - The better solution is to break the mesh into several meshes, and include them as multiple geoms in the same body. Then MuJoCo will construct the convex hull of each sub-mesh, resulting in multiple contact points (even without the special plane mechanism mentioned above) and furthermore it will be a better approximation to the actual object geometry.
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
answered Nov 20 '18 at 21:06
cyrilcyril
1,23412045
1,23412045
add a comment |
add a comment |
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