Self-Collision Avoidance

[Amir-M-Vahedi]

Hi Everyone,

I want to implement RL for my project. The Robot I designed has different flaps, and their range of motion can intersect.
During the RL, I can see the flaps moving through each other. What do you recommend to avoid this problem?
I also tried to implement a self-collision sensor as a termination function, but it always gives me zero. Has anyone had a similar experience? Is it possible to have this data? (Contact between one prim of the robot with its other prims)

Here's my robot config:

MC_CFG = ArticulationCfg(
prim_path="{ENV_REGEX_NS}/Robot",
spawn=sim_utils.UsdFileCfg(
usd_path=r".usd",
activate_contact_sensors=True, # Enable contact sensors
rigid_props=sim_utils.RigidBodyPropertiesCfg(
rigid_body_enabled=True,
disable_gravity=False,
max_depenetration_velocity=10.0,
enable_gyroscopic_forces=True,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True,
solver_position_iteration_count=8,
solver_velocity_iteration_count=0,
sleep_threshold=0.005,
stabilization_threshold=0.001,
),
# collision_props=sim_utils.CollisionPropertiesCfg(
# collision_enabled=True),
copy_from_source=False,
),

contact_sensor_High_Back = ContactSensorCfg(
prim_path="{ENV_REGEX_NS}/Robot/Link_High_Back",
# filter_prim_paths_expr=["{ENV_REGEX_NS}/Robot/Link_.*"], # Include all robot links
filter_prim_paths_expr=["{ENV_REGEX_NS}/Robot/Link_High_Back",
"{ENV_REGEX_NS}/Robot/Link_High_Front", "{ENV_REGEX_NS}/Robot/Link_L_Back", "{ENV_REGEX_NS}/Robot/Link_L_Front",
"{ENV_REGEX_NS}/Robot/Link_L_High", "{ENV_REGEX_NS}/Robot/Link_L_Low", "{ENV_REGEX_NS}/Robot/Link_Low_Back", "{ENV_REGEX_NS}/Robot/Link_Low_Front",
"{ENV_REGEX_NS}/Robot/Link_R_Back", "{ENV_REGEX_NS}/Robot/Link_R_Front", "{ENV_REGEX_NS}/Robot/Link_R_High", "{ENV_REGEX_NS}/Robot/Link_R_Low"], # Include all robot links
history_length=1,
update_period=0.0,
track_air_time=False,
)

Thanks.

[RandomOakForest]

Thanks for posting this. Having enabled_self_collisions=True should work. Could elaborate on your task and possibly insert a screenshot or video? we would need to repro this.