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Issue importing deformable cloth object #466

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VijayGKR opened this issue Mar 31, 2024 · 1 comment
Open

Issue importing deformable cloth object #466

VijayGKR opened this issue Mar 31, 2024 · 1 comment

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@VijayGKR
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Hello Robosuite Team,

I'm having issues importing a deformable cloth object. The xml file I'm using to define the object is below:

<mujoco>
    <asset>
        <texture name="texcorner4" type="2d" file="blue-wood.png"/>
        <material name="matcorner4" texture="texcorner4"/>
    </asset>
  <worldbody>
    <body>
        <body name="object">
        <body name="B3_5">
        <composite prefix='' type="cloth" count="9 9 1" spacing="0.03" flatinertia="0.01">
            <joint kind="main" damping="0.002"/>
            <skin material="matcorner4" texcoord="true" inflate="0.005" subgrid="2"/>
            <geom type="capsule" size="0.0075 0.005" rgba=".8 .2 .1 1" group="0"/>
        </composite>
        </body>
        </body>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.007" name="bottom_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 0.007" name="top_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="0.2 0.2 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>

The code where I initialize the environment and attempt to render the environment (main.py) crashes and results in this:

Traceback (most recent call last):
  File "/Users/vijaykumaravelrajan/PycharmProjects/pythonProject4/main.py", line 108, in <module>
    env = suite.make(
  File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages/robosuite/environments/base.py", line 42, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
  File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages/robosuite/environments/manipulation/stack.py", line 183, in __init__
    super().__init__(
  File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages/robosuite/environments/manipulation/manipulation_env.py", line 162, in __init__
    super().__init__(
  File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages/robosuite/environments/robot_env.py", line 214, in __init__
    super().__init__(
  File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages/robosuite/environments/base.py", line 139, in __init__
    self._initialize_sim()
  File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages/robosuite/environments/base.py", line 235, in _initialize_sim
    self.sim = MjSim.from_xml_string(xml)
  File "/Library/Frameworks/Python.framework/Versions/3.10/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 1073, in from_xml_string
    model = mujoco.MjModel.from_xml_string(xml)
ValueError: XML Error: Schema violation: unrecognized attribute: 'name'

Element 'geom', line 374

Below is the code for the initialization of the cloth object and a modified stack task importing the object:

# create environment instance
class ClothObject(MujocoXMLObject):
    def __init__(self, name):
        super().__init__("cloth.xml",
                            name=name)

class Stack(suite.Stack):
    def _load_model(self):
            """
            Loads an xml model, puts it in self.model
            """
            super()._load_model()

            # Adjust base pose accordingly
            xpos = self.robots[0].robot_model.base_xpos_offset["table"](self.table_full_size[0])
            self.robots[0].robot_model.set_base_xpos(xpos)

            # load model for table top workspace
            mujoco_arena = TableArena(
                table_full_size=self.table_full_size,
                table_friction=self.table_friction,
                table_offset=self.table_offset,
            )

            # Arena always gets set to zero origin
            mujoco_arena.set_origin([0, 0, 0])

            self.clothB = ClothObject(name = "testCLoth")


            objects = [self.clothB]

            # Create placement initializer
            if self.placement_initializer is not None:
                self.placement_initializer.reset()
                self.placement_initializer.add_objects(objects)
            else:
                self.placement_initializer = UniformRandomSampler(
                    name="ObjectSampler",
                    mujoco_objects=objects,
                    x_range=[-3, 3],
                    y_range=[-3, 3],
                    rotation=None,
                    ensure_object_boundary_in_range=False,
                    ensure_valid_placement=True,
                    reference_pos=self.table_offset,
                    z_offset=0.01,
                )

            # task includes arena, robot, and objects of interest
            self.model = ManipulationTask(
                mujoco_arena=mujoco_arena,
                mujoco_robots=[robot.robot_model for robot in self.robots],
                mujoco_objects=objects,
            )

Has this issue been resolved since this previous issue report?
#276
@kevin-thankyou-lin
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Contributor

As a sanity check, since the underlying simulation uses mujoco, can you try loading the xml inside mujoco first?

python -m mujoco.viewer --mjcf=/path/to/some/mjcf.xml here

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@kevin-thankyou-lin @VijayGKR