Setting shape properties has no effect #105
Description
It looks like only about half of the available shape properties can be set while the others remain zero no matter what values I attempted to set. See the following script for more details.
This is probably a Isaac gym problem (not necessary IsaacGymEnvs), but I was hoping to get some feedback here. There is already a forum post (unanswered) about this problem (https://forums.developer.nvidia.com/t/setting-rigit-shape-properties-doesnt-work/202094).
from isaacgym import gymapi
# initialize gym
gym = gymapi.acquire_gym()
# configure sim
sim_params = gymapi.SimParams()
device_id = 0
sim = gym.create_sim(device_id, device_id, gymapi.SIM_PHYSX, sim_params)
assert sim is not None
viewer = gym.create_viewer(sim, gymapi.CameraProperties())
assert viewer is not None
# add ground plane
plane_params = gymapi.PlaneParams()
plane_params.static_friction = 534.0
plane_params.dynamic_friction = 5675.0
gym.add_ground(sim, plane_params)
# set up the env grid
num_envs = 1
spacing = 1.5
env_lower = gymapi.Vec3(-spacing, 0.0, -spacing)
env_upper = gymapi.Vec3(spacing, spacing, spacing)
# object
asset_options = gymapi.AssetOptions()
asset_options.density = 100.0
asset_capsule = gym.create_capsule(sim, 0.2, 0.2, asset_options)
env = gym.create_env(sim, env_lower, env_upper, 1)
pose = gymapi.Transform()
pose.p = gymapi.Vec3(0.0, 0.5, 0.0)
pose.r = gymapi.Quat(0, 0, 0, 1)
pose.p = gymapi.Vec3(0.0, 2.0, 0.0)
capsule_handle = gym.create_actor(env, asset_capsule, pose, name="object")
# set restitution for capsule actor
shape_props = gym.get_actor_rigid_shape_properties(env, capsule_handle)
default_props = gym.get_actor_rigid_shape_properties(env, capsule_handle)
shape_props[0].compliance = 999.0
shape_props[0].contact_offset = 999.0
shape_props[0].filter = 999
shape_props[0].friction = 999.0
shape_props[0].rest_offset = 999.0
shape_props[0].restitution = 999.0
shape_props[0].rolling_friction = 999.0
shape_props[0].thickness = 999.0
shape_props[0].torsion_friction = 999.0
gym.set_actor_rigid_shape_properties(env, capsule_handle, shape_props)
out_props = gym.get_actor_rigid_shape_properties(env, capsule_handle)
porperties_list = [
"compliance",
"contact_offset",
"filter",
"friction",
"rest_offset",
"restitution",
"rolling_friction",
"thickness",
"torsion_friction",
]
print()
print()
print(f"{'Properties':18} {'Default':25} {'Input':8} {'Output':8}")
print(f"{'-' * 73}")
for prop in porperties_list:
print(
f"{prop:18} {default_props[0].__getattribute__(prop):25} {shape_props[0].__getattribute__(prop):8} {out_props[0].__getattribute__(prop):8}"
)
# look at the first env
cam_pos = gymapi.Vec3(6, 4.5, 3)
cam_target = gymapi.Vec3(-0.5, 0.5, 0)
gym.viewer_camera_look_at(viewer, None, cam_pos, cam_target)
while not gym.query_viewer_has_closed(viewer):
# step the physics
gym.simulate(sim)
gym.fetch_results(sim, True)
# update the viewer
gym.step_graphics(sim)
gym.draw_viewer(viewer, sim, True)
# Wait for dt to elapse in real time.
# This synchronizes the physics simulation with the rendering rate.
gym.sync_frame_time(sim)
print()
print()
print(f"{'Properties':18} {'Default':25} {'Input':8} {'Output':8}")
print(f"{'-' * 73}")
for prop in porperties_list:
print(
f"{prop:18} {default_props[0].__getattribute__(prop):25} {shape_props[0].__getattribute__(prop):8} {out_props[0].__getattribute__(prop):8}"
)
gym.destroy_viewer(viewer)
gym.destroy_sim(sim)
Output:
Not connected to PVD
Physics Engine: PhysX
Physics Device: cpu
GPU Pipeline: disabled
Properties Default Input Output
-------------------------------------------------------------------------
compliance 0.0 999.0 0.0
contact_offset 0.019999999552965164 999.0 999.0
filter 0 999 999
friction 1.0 999.0 999.0
rest_offset 0.0010000000474974513 999.0 999.0
restitution 0.0 999.0 999.0
rolling_friction 0.0 999.0 0.0
thickness 0.0 999.0 0.0
torsion_friction 0.0 999.0 0.0