Cannot apply gravity to the objects and add DynamicCylinder

[psh9002]

Hello,

There are two problems when I change the Isaac Sim version 2022.2.0 to 2022.2.1.
I check the problems with reaching_franka_omniverse_isaacgym_env.py.

Problem 1: Cannot apply gravity to the objects.
Problem 2: Cannot add DynamicCylinder.

To apply gravity, I set "fixed_base": False, but it did not work. Also, when I try to change the primitive shape with DynamicCylinder, the simulator suddenly shut down with the below error.

[2.542s] Simulation App Starting
[4.491s] app ready
[4.565s] RTX ready
[4.621s] Simulation App Startup Complete
Sim params does not have attribute:  physx
Sim params does not have attribute:  robot
Sim params does not have attribute:  target
Pipeline:  GPU
Pipeline Device:  cuda:0
Sim Device:  GPU
Task Device: cuda:0
RL device:  cuda:0
/home/bak/anaconda3/envs/isaac-sim_22.2.1/lib/python3.7/site-packages/gym/spaces/box.py:74: UserWarning: WARN: Box bound precision lowered by casting to float32
  "Box bound precision lowered by casting to {}".format(self.dtype)
[5.267s] [ext: omni.physx.flatcache-104.2.4-5.1] startup
Actor params does not have attribute:  fixed_base
Actor params does not have attribute:  fixed_base
2023-04-12 05:40:19 [6,035ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/robot/panda_link7/visuals.proto_visuals_id0 that has not been populated
~*~*~*
~*~*~* Direct GPU Helper:
~*~*~*   2 rigid dynamics
~*~*~*   2 articulations, maxLinks=11
~*~*~*
[skrl:INFO] Environment class: omni.isaac.gym.vec_env.vec_env_base.VecEnvBase
[skrl:INFO] Environment wrapper: Omniverse Isaac Gym
  0%|▎                                                       | 99/20000 [00:04<14:57, 22.17it/s]
Traceback (most recent call last):
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/OmniIsaacGymEnvs/omniisaacgymenvs/skrl_examples/reaching_franka/reaching_franka_omniverse_isaacgym_skrl_train.py", line 141, in <module>
    trainer.train()
  File "/home/bak/anaconda3/envs/isaac-sim_22.2.1/lib/python3.7/site-packages/skrl/trainers/torch/sequential.py", line 75, in train
    self.single_agent_train()
  File "/home/bak/anaconda3/envs/isaac-sim_22.2.1/lib/python3.7/site-packages/skrl/trainers/torch/base.py", line 164, in single_agent_train
    actions = self.agents.act(states, timestep=timestep, timesteps=self.timesteps)[0]
  File "/home/bak/anaconda3/envs/isaac-sim_22.2.1/lib/python3.7/site-packages/skrl/agents/torch/ppo/ppo.py", line 242, in act
    actions, log_prob, outputs = self.policy.act({"states": self._state_preprocessor(states), **rnn}, role="policy")
  File "/home/bak/anaconda3/envs/isaac-sim_22.2.1/lib/python3.7/site-packages/skrl/models/torch/gaussian.py", line 153, in act
    self._g_distribution[role] = Normal(mean_actions, log_std.exp())
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.pip.torch-1_13_1-0.1.4+104.2.lx64/torch-1-13-1/torch/distributions/normal.py", line 56, in __init__
    super(Normal, self).__init__(batch_shape, validate_args=validate_args)
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.pip.torch-1_13_1-0.1.4+104.2.lx64/torch-1-13-1/torch/distributions/distribution.py", line 57, in __init__
    f"Expected parameter {param} "
ValueError: Expected parameter loc (Tensor of shape (2, 3)) of distribution Normal(loc: torch.Size([2, 3]), scale: torch.Size([2, 3])) to satisfy the constraint Real(), but found invalid values:
tensor([[    nan,     nan,     nan],
        [-0.9289, -1.5329, -0.6560]], device='cuda:0')
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7fcf6336a8c0>
Traceback (most recent call last):
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7fcf6336a8c0>
Traceback (most recent call last):
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fd196717c20>
Traceback (most recent call last):
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
AttributeError: 'NoneType' object has no attribute 'get_settings'
Exception ignored in: <function RegisteredActions.__del__ at 0x7fceffedfcb0>
Traceback (most recent call last):
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.kit.viewport.menubar.lighting-104.0.9/omni/kit/viewport/menubar/lighting/actions.py", line 347, in __del__
  File "/home/bak/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.kit.viewport.menubar.lighting-104.0.9/omni/kit/viewport/menubar/lighting/actions.py", line 352, in destroy
TypeError: 'NoneType' object is not callable

Here is my get_target method.

    def get_target(self):
        # target = DynamicSphere(prim_path=self.default_zero_env_path + "/target",
        #                        name="target",
        #                        radius=0.025,
        #                        color=torch.tensor([1, 0, 0]),
        #                        mass=0.1,)
        
        target = DynamicCylinder(
            prim_path=self.default_zero_env_path + "/target",
            name="target",
            # position=np.array([0.50, 0.20, 0.20]),
            scale=np.array([0.03, 0.03, 0.03]),
            color=torch.tensor([1, 0, 0]),
            # density=100,
            mass=0.1,
            )
        
        self._sim_config.apply_articulation_settings("target", get_prim_at_path(target.prim_path), self._sim_config.parse_actor_config("target"))

Actually, I have problems with my custom example.
https://forums.developer.nvidia.com/t/cannot-import-omni-related-modules/247240/17?u=psh9002

I thought that the main cause of the problem was not just in my code, but was caused by a change in version, so I asked with a basic example.

Thanks

[Toni-SM]

Hi @psh9002

Sorry for late response.

It has also been impossible for me to include the cylinder.
I will report it to the Isaac Sim team.

However, adding the DynamicCylinder, with the same arguments as for the DynamicSphere in the OIGE BallBallance example works

[psh9002]

Thanks, @Toni-SM

Could you check the applying gravity on Isaac Sim with SKRL?
I still cannot solve it.

[Toni-SM]

Hi @psh9002

For objects with gravity, please, refer to OIGE BallBalance example and its configuration

• https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/tasks/ball_balance.py
• https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/cfg/task/BallBalance.yaml

Btw, I also found (and reported to Isaac Sim team) that from all the Dynamic Objects, the DynamicSphere, DynamicCapsule and DynamicCuboid works but the DynamicCylinder and DynamicCone crashed the simulation

[psh9002]

Thanks, @Toni-SM

I tried to check all configurations of BallBalance example as best I could, but I could not apply gravity.

Here are my configurations.

"sim": {"dt": 0.0083,  # 1 / 120
       "use_gpu_pipeline": True,
       "gravity": [0.0, 0.0, -9.81],
       "add_ground_plane": True,
       "use_flatcache": True,
       "enable_scene_query_support": False,
       "disable_contact_processing": False,
       "enable_cameras": False,
       "default_physics_material": {"static_friction": 1.0,
                                   "dynamic_friction": 1.0,
                                   "restitution": 0.0},

"target": {"override_usd_defaults": False,
          # "fixed_base": True,
          "fixed_base": False,
          "enable_self_collisions": False,
          "enable_gyroscopic_forces": True,
          "solver_position_iteration_count": 4,
          "solver_velocity_iteration_count": 1,
          "sleep_threshold": 0.005,
          "stabilization_threshold": 0.001,
          # "density": -1,
          "density": 200,
          "max_depenetration_velocity": 1000.0,
          "contact_offset": 0.005,
          "rest_offset": 0.0}

I also add enable_rigid_body_physics() and set_collision_enabled(True) when get DynamicSphere.

def get_target(self):
    target = DynamicSphere(prim_path=self.default_zero_env_path + "/target",
                           name="target",
                           radius=0.025,
                           color=torch.tensor([1, 0, 0]))
    target.enable_rigid_body_physics()
    target.set_collision_enabled(True)
    self._sim_config.apply_articulation_settings("target", get_prim_at_path(target.prim_path), self._sim_config.parse_actor_config("target"))

There is no problem at 2022.2.0 with the same configurations.

[Toni-SM]

Hi @psh9002

You can add gravity to DynamicSphere as follow (taken from BallBalance example).
We have to wait for Isaac Sim's team to solve the problem with the other objects to be able to use them.

In the skrl's real-world reaching franka example:

# in TASK_CFG
 "target": {"override_usd_defaults": False,
            "make_kinematic": False,
            "enable_self_collisions": False,
            "enable_gyroscopic_forces": True,
            "solver_position_iteration_count": 4,
            "solver_velocity_iteration_count": 1,
            "sleep_threshold": 0.005,
            "stabilization_threshold": 0.001,
            "density": -1,
            "max_depenetration_velocity": 1000.0,
            "contact_offset": 0.005,
            "rest_offset": 0.0}

# create DynamicSphere
def get_target(self):
    target = DynamicSphere(prim_path=self.default_zero_env_path + "/target",
                           name="target",
                           radius=0.025,
                           color=torch.tensor([1, 0, 0]))
    self._sim_config.apply_articulation_settings("target", get_prim_at_path(target.prim_path), self._sim_config.parse_actor_config("target"))

gravity.mp4

[psh9002]

The reason was that I did not add "make_kinematic": False,!
Thanks !!