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Mesh Penetration Issue in MJX #2477

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Stillwtm opened this issue Mar 7, 2025 · 0 comments
Open
2 tasks done

Mesh Penetration Issue in MJX #2477

Stillwtm opened this issue Mar 7, 2025 · 0 comments
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bug Something isn't working

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@Stillwtm
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Stillwtm commented Mar 7, 2025

Intro

Hi!

I am a undergrad student at SJTU, I use MuJoCo for my research on robot manipulation.

My setup

mujoco 3.3.0, mujoco-mjx 3.2.7, Python, Ubuntu 20.04

What's happening? What did you expect?

I used the following command to load my model in MJX and visualize:

JAX_PLATFORM_NAME=cpu python -m mujoco.mjx.viewer --mjcf scene.xml

I noticed that a significant penetration occurs between the mesh of a bottle and a box.

2025-03-07.17.26.45.webm

However, when I removed three empty bodies from the model, this penetration issue seemed to disappear.

I am unsure why this behavior occurs, as my previous understanding was that empty bodies should not affect the physics simulation.

Steps for reproduction

  1. Run
JAX_PLATFORM_NAME=cpu python -m mujoco.mjx.viewer --mjcf scene.xml
  1. Observe penetration between bottle mesh and the box
  2. Comment out L72-74 in r0_real2sim.xml (as shown in r0_real2sim_1.xml).
      <!-- <body name='a' pos="1.05 0.25 0.97"/>
      <body name='b' pos="1.05 0.283 0.97"/>
      <body name='c' pos="1.05 0.217 0.97"/> -->
  1. Run the viewer again; observe that the mesh penetration issue disappears.

Minimal model for reproduction

demo.zip

Code required for reproduction

No response

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@Stillwtm Stillwtm added the bug Something isn't working label Mar 7, 2025
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@Stillwtm