Good Afternoon everyone.
I must first apologize for my relatively super low level of understanding Isaac Gym as a whole. I’ve been using it for 3 weeks for a school project, and I stumbled upon an issue that my TAs and I can’t fix, so I tried to do what I could on my own but I might be not sufficient for you to help me. In this case, feel free to ask for what you need.
Long story short, I’m designing a robotic hand from scratch and now I have to train it with RL to allow it to grab a ball and roll it in the hand. Everything seems right until the collision part, where my thumb seem to be absolutely non tangible at random times : I can go through the ball or the palm of my hand randomly, making my RL results completely unusable in real life.
I tried in the robot_hand.py file in the environment provided by home lab to change the param6 in the actor creation line to override the MuJoCo parameters with Gym computing all the collisions, without success. I also tried to shut down the GPU pipeline to use the CPU and visualize collisions, and it seems that more than often they are absolutely not detected. Nothing that I tried to do on the MJCF file amounted to some result, and I can assure you that the collision are properly computed in MuJoCo itself.
So know that I have exhausted all my ideas, I’m asking for your help. I would appreciate if one of you could guide me a little bit more on how to solve this issue.
I wish you a pleasant day.
P.S. : here’s a swisstransfer of all the environnement, since I don’t know what you could need to check it on by yourself. The models are in the asset folder in case. SwissTransfer - Envoi sécurisé et gratuit de gros fichiers