[MISC] Make collision bitmasks filter local to entity for MJCF morphs.#1499
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| Note | ||
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| Genesis currently processes MJCF as if it describing a single entity instead of an actual scene. This means that |
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| ---- | ||
| Genesis currently processes MJCF as if it describing a single entity instead of an actual scene. This means that | ||
| there is a single gigantic kinematic chain comprising multiple physical kinematic chains connected together using | ||
| fee joints. The definition of kinematic chain has been stretched a bit to allow us. In particular, there must be |
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| ---- | ||
| Genesis currently processes MJCF as if it describing a single entity instead of an actual scene. This means that | ||
| there is a single gigantic kinematic chain comprising multiple physical kinematic chains connected together using | ||
| fee joints. The definition of kinematic chain has been stretched a bit to allow us. In particular, there must be |
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"to allow us" -> "to allow for this"
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Genesis-Embodied-AI#1499) * Make collision bitmask filter local to entity for MJCF morphs. * Fix broken 'RigidSolver.links_info.entity_idx'.
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Genesis-Embodied-AI#1499) * Make collision bitmask filter local to entity for MJCF morphs. * Fix broken 'RigidSolver.links_info.entity_idx'.
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Genesis-Embodied-AI#1499) * Make collision bitmask filter local to entity for MJCF morphs. * Fix broken 'RigidSolver.links_info.entity_idx'.
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Description
Add extra flag to only apply collision pairs filtering based on contype / conaffinity bitmasks locally (i.e. for geometries associated with the same entity), then enforcing this flag to True for MJCF morphs, False otherwise.
Motivation and Context
The collision bitmasks filters are ill-defined for MJCF, in a sense that they are dynamically generated, based on a the combination of some original bitmasks with an optional set of explicitly excluded collision pairs. Moreover, Mujoco does not allow loading multiple MJCF in the scene, nor does it allow to add additional entities manually afterward. This meanst that contype / conaffinity can be viewed as systemically "local". As a result, it would be error prone to use them to filter collision pairs among different MJCF entities. Still, it is relevant to have the ability to enable cross-entity contype / conaffinity for primitives and meshes, since it is perfectly well-defined in this case, and basically aligns with what is done within MJCF.
How Has This Been / Can This Be Tested?
Running the example script
examples/collision/contype.pyChecklist:
Submitting Code Changessection of CONTRIBUTING document.