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flexcomp object cannot be created #457

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bakehamster opened this issue Apr 1, 2024 · 0 comments
Closed

flexcomp object cannot be created #457

bakehamster opened this issue Apr 1, 2024 · 0 comments

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@bakehamster
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bakehamster commented Apr 1, 2024 •
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Hi guys,

Currently, I am encountering an issue with creating a flexcomp object using dm_control/mjcf. When I attempted to load this model.

<mujoco model="deformable_sphere">
	
	<option timestep="0.01" solver="CG"/>
	
    <extension>
        <plugin plugin="mujoco.elasticity.solid"/>
    </extension>

    <worldbody>
		<geom size=".2 .2 .5" type="plane" />
		<light pos="0 0 .6"/>
		<camera name="closeup" pos="0 -.1 .07" xyaxes="1 0 0 0 1 2"/>
		<body name="alma">
			<flexcomp name="ball" dim="3" type="gmsh" rgba=".8 .2 .2 1" radius="0.25" pos="0 0 4" mass="1" file="valid_path.msh">
				<edge equality="true"/>
				<plugin plugin="mujoco.elasticity.solid"></plugin>
				<contact selfcollide="none" condim="3"/>
			</flexcomp>
		</body>
    </worldbody>
</mujoco>

I tried to load it in two different ways.
I've tried to create it with mjcf.

env_mjcf = mjcf.RootElement(model="scene")


env_mjcf.option.timestep = 0.01
env_mjcf.option.solver = "CG"

env_mjcf.extension.add(
    "plugin",
    plugin="mujoco.elasticity.solid"
)

flexcomp = env_mjcf.worldbody.add(
        "flexcomp",
        name="ball",
        type="gmsh",
        radius=0.25,
        pos=[0, 0, 4.75],
        mass=1,
        dim=3,
        file="valid_ath"

    )
flexcomp.add("contact", selfcollide=None, condim="3")
flexcomp.add("plugin", plugin="mujoco.elasticity.solid")

The other way was simply loading it from a file.

ball = mjcf.from_file("valid_path")
env_mjcf.attach(ball)

I successfully loaded my model into a standalone mujoco.viewer, and it worked fine. However, when attempting to load it with mjcf, the following problem occurred:

dm_control\mjcf\element.py", line 534, in _check_valid_attribute
raise AttributeError(AttributeError: Line 14: error while parsing element <flexcomp>: 'dim' is not a valid attribute for <flexcomp>)

But when I checked the Mujoco documentation, it clearly specifies a dim parameter. Mujoco documentation.
I've tried with and without the body flag, but the dim parameter must be defined either way.

Any idea about the problem?

This is the gmsh mesh which I wanted to load sphere_basic_text.txt.

Mujoco: 3.1.3
dm_control: 1.0.17
Python: 3.11
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@bakehamster