How to Address Self-Collision Awareness in Genesis for Robot Control Training?

[xiangyu-miao]

Hello everyone,

I'm currently using Genesis to train robot control, and I’ve encountered an issue where the robot seems unaware of self-collisions occurring between its own links. I’d like to consult the community on how to ensure that self-collisions are properly considered within the simulator.

Are there specific settings or adjustments in Genesis that I might have overlooked? Or perhaps particular plugins or features that could help in enabling self-collision detection? Any advice or guidance would be greatly appreciated.

Thank you in advance for your support!

[duburcqa]

Just install the latest version. Self collision is now enabled by default :)

[duburcqa]

I would add that it is partially enabled. Self collision between adjacent links is still disabled by default, because poorly designed collision geometries would be consistently intersecting, making the simulation unstable. Have a look at all the RigidOptions.

[xiangyu-miao]

Thank you for the clarification! :)