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Bug. Error occurs when load MJCF. #616

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Riften opened this issue Jan 20, 2025 · 2 comments · May be fixed by #627
Open

Bug. Error occurs when load MJCF. #616

Riften opened this issue Jan 20, 2025 · 2 comments · May be fixed by #627

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@Riften
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Riften commented Jan 20, 2025

Description
ValueError: zero-size array to reduction operation maximum which has no identity when load the mjcf model attached.

floor_backing_room.zip

Full output 
[Genesis] [20:39:22] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [20:39:22] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [20:39:22] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [20:39:22] [INFO] Running on [NVIDIA GeForce GTX 1080 Ti] with backend gs.cuda. Device memory: 10.91 GB.
[Genesis] [20:39:22] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.1, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [20:39:23] [INFO] Scene <7385b01> created.
[Genesis] [20:39:23] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <b2ee330>, morph: <gs.morphs.MJCF(file='/home/yongxi/Workspace/SJTU-Robotic-Interface/notebooks/floor_backing_room/model.xml')>, material: <gs.materials.Rigid>.
/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/numpy/core/fromnumeric.py:3504: RuntimeWarning: Mean of empty slice.
  return _methods._mean(a, axis=axis, dtype=dtype,
/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/numpy/core/_methods.py:121: RuntimeWarning: invalid value encountered in divide
  ret = um.true_divide(
Traceback (most recent call last):
  File "/home/yongxi/Workspace/SJTU-Robotic-Interface/notebooks/reproduce.py", line 4, in <module>
    scene.add_entity(gs.morphs.MJCF(file='floor_backing_room/model.xml'))
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/utils/misc.py", line 38, in wrapper
    return method(self, *args, **kwargs)
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/engine/scene.py", line 359, in add_entity
    entity = self._sim._add_entity(morph, material, surface, visualize_contact)
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/engine/simulator.py", line 134, in _add_entity
    entity = self.rigid_solver.add_entity(self.n_entities, material, morph, surface, visualize_contact)
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/engine/solvers/rigid/rigid_solver_decomp.py", line 64, in add_entity
    entity = entity_class(
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 68, in __init__
    self._load_model()
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 78, in _load_model
    self._load_MJCF(self._morph, self._surface)
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/engine/entities/rigid_entity/rigid_entity.py", line 342, in _load_MJCF
    g_info = mju.parse_geom(mj, i_g, morph.scale, morph.convexify, surface, morph.file)
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/utils/mjcf.py", line 357, in parse_geom
    mesh = gs.Mesh.from_trimesh(
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/engine/mesh.py", line 260, in from_trimesh
    opacity_texture = color_texture.check_dim(3)
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/options/textures.py", line 149, in check_dim
    return ImageTexture(image_array=res, image_color=res_color, encoding="linear").check_simplify()
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/genesis/options/textures.py", line 155, in check_simplify
    max_color = np.max(self.image_array, axis=(0, 1))
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/numpy/core/fromnumeric.py", line 2810, in max
    return _wrapreduction(a, np.maximum, 'max', axis, None, out,
  File "/home/yongxi/App/anaconda3/envs/robotic/lib/python3.9/site-packages/numpy/core/fromnumeric.py", line 88, in _wrapreduction
    return ufunc.reduce(obj, axis, dtype, out, **passkwargs)
ValueError: zero-size array to reduction operation maximum which has no identity
[Genesis] [20:39:23] [INFO] 💤 Exiting Genesis and caching compiled kernels...

To Reproduce

import genesis as gs
gs.init(backend=gs.cuda)
scene = gs.Scene(show_FPS=False, show_viewer=False)
scene.add_entity(gs.morphs.MJCF(file='floor_backing_room/model.xml'))

Expected behavior
Result from mujoco 3.2.5.

Image

Environment:

  • OS: ubuntu 20.04
  • GPU/CPU: NVIDIA GeForce GTX 1080 Ti
@bxtbold
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bxtbold commented Jan 22, 2025

I was able to reproduce and find out where the bug was appearing.

Basically, the the image was loaded properly at line 305 of utils/mjcf.py, but somehow the image_array became an empty array at line 307. This is the reason why you having that value error (numpy reduction functions cannot process empty array).

If you comment out line 307, you can load that mjcf model.

Image

@Riften
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Riften commented Jan 22, 2025

@bxtbold Thank you! It seems that the bug is caused by incorrect processing of the texrepeat attribute in MJCF. In the MJCF file there is <material texrepeat="0.5 0.5" texuniform="true" name="floor_backing_room_wall_mat" texture="floor_backing_room_wall" />. However, mjcf.py converts texrepeat to int which results in zero repeat.

tex_repeat = mj.mat_texrepeat[mat_id].astype(int) # [0, 0]
image_array = np.tile(image_array, (tex_repeat[0], tex_repeat[1], 1))

@bxtbold bxtbold linked a pull request Jan 22, 2025 that will close this issue
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[BUG FIX] Updated texrepeat handling for mjcf bxtbold/Genesis
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@Riften @bxtbold