Request Assistance to Resolve Warning Messages

[Total-Bots-Lab]

Hi everyone,

I’m currently experimenting with the Go2 Unitree robot in the Genesis simulation environment. While building a scene, I’ve been encountering numerous warning messages during execution. The pop-up video is working as expected though.

However, I believe these warning messages should be addressed properly, and I’d like to resolve them rather than ignore or suppress them. I’ve attached the relevant code and the resulting warnings below.

If anyone has experience dealing with similar issues in Genesis or can offer any guidance, I’d greatly appreciate your help.

Thanks in advance!

Code

# Determining how to apply actions to Go2 joints
# Reference
# https://genesis-world.readthedocs.io/en/latest/user_guide/getting_started/control_your_robot.html#joint-control
# https://github.com/Genesis-Embodied-AI/Genesis/tree/main/examples/locomotion

# Importing libraries
import genesis as gs

#Initializes Genesis with the CPU backend.
gs.init(backend=gs.cpu)

#Create a Scene
scene = gs.Scene(show_viewer=True)

#Adds a flat ground plane to the scene.
plane = scene.add_entity(gs.morphs.Plane())

#Integrate the Go2 Robot xml.
robot = gs.morphs.MJCF(file="xml/Unitree_Go2/go2.xml")

#Add an entity to the scene.
Go2 = scene.add_entity(robot)

#Builds the scene.
scene.build()

Output

[Genesis] [17:06:25] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [17:06:25] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [17:06:25] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [17:06:27] [INFO] Running on [Intel(R) Core(TM) i7-8565U CPU @ 1.80GHz] with backend gs.cpu. Device memory: 15.78 GB.
[Genesis] [17:06:27] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.1, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [17:06:28] [INFO] Scene <f8a313d> created.
[Genesis] [17:06:29] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <78af1b9>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [17:06:29] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <0b60850>, morph: <gs.morphs.MJCF(file='C:\Users\ritwi\Desktop\total_robotics\genesis_AI_sims\Unitree_Go2\xml\Unitree_Go2\go2.xml')>, material: <gs.materials.Rigid>.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Friction loss at DoF-level not supported.
[Genesis] [17:06:31] [WARNING] (MJCF) Joint Coulomb friction not supported.
[Genesis] [17:06:31] [INFO] Building scene <f8a313d>...
[Genesis] [17:06:34] [WARNING] Reference robot position exceeds joint limits.
[Genesis] [17:06:42] [INFO] Compiling simulation kernels...
[Genesis] [17:07:12] [INFO] Building visualizer...
[Genesis] [17:07:22] [INFO] Viewer created. Resolution: 900×675, max_FPS: 60.

[duburcqa]

These warnings should not be ignored indeed, but there is also no way to fix them at the moment. This is a limitation of Genesis itself unfortunately… So beware joint friction is not available for now, which will affect the overall dynamics of the system.

[Total-Bots-Lab]

Thanks a lot for the input.
What can't be cured must be endured !! -for the time being. :)