search

ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
https://robosuite.ai
Other
1.23k stars 394 forks source link

Failed to load XML from string. mj_loadXML error: b'XML parse error at line 0, column 0:\nFailed to open file\n' #323

Open tinelion opened 2 years ago

tinelion commented 2 years ago

I use robosuite on win10 and got error below,I'm sure the assert files exist，what's wrong and what can i do? robosuite==1.3.2 the script from document:

import numpy as np
import robosuite as suite

# create environment instance
env = suite.make(
    env_name="Lift", # try with other tasks like "Stack" and "Door"
    robots="Jaco",  # try with other robots like "Sawyer" and "Jaco"
    has_renderer=True,
    has_offscreen_renderer=False,
    use_camera_obs=False,
)

# reset the environment
env.reset()

for i in range(1000):
    action = np.random.randn(env.robots[0].dof) # sample random action
    obs, reward, done, info = env.step(action)  # take action in the environment
    env.render()  # render on display

the error:

D:\app\Anaconda\envs\broken\python.exe E:/projects/gym_learn/class_6/run.py
Traceback (most recent call last):
  File "E:/projects/gym_learn/class_6/run.py", line 10, in <module>
    use_camera_obs=False,
  File "C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\environments\base.py", line 38, in make
    return REGISTERED_ENVS[env_name](*args, **kwargs)
  File "C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\environments\manipulation\lift.py", line 207, in __init__
    renderer_config=renderer_config,
  File "C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\environments\manipulation\manipulation_env.py", line 186, in __init__
    renderer_config=renderer_config,
  File "C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\environments\robot_env.py", line 226, in __init__
    renderer_config=renderer_config,
  File "C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\environments\base.py", line 137, in __init__
    self._initialize_sim()
  File "C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\environments\base.py", line 236, in _initialize_sim
    self.mjpy_model = load_model_from_xml(xml_string) if xml_string else self.model.get_model(mode="mujoco_py")
  File "C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\base.py", line 145, in get_model
    model = load_model_from_xml(string.getvalue())
  File "cymj.pyx", line 191, in mujoco_py.cymj.load_model_from_xml
Exception: <mujoco model="base">
  <compiler angle="radian" inertiagrouprange="0 0" meshdir="meshes/" />
  <option cone="elliptic" density="1.2" impratio="20" timestep="0.002" viscosity="0.00002" />
  <size nconmax="5000" njmax="5000" />

  <asset>
  <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
    <texture file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\arenas\../textures/wood-tiles.png" name="texplane" type="2d" />
    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true" />

    <texture file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\arenas\../textures/ceramic.png" name="tex-ceramic" type="cube" />
    <material name="table_ceramic" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-ceramic" />

    <texture file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\arenas\../textures/steel-brushed.png" name="tex-steel-brushed" type="cube" />
    <material name="table_legs_metal" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-steel-brushed" />

    <texture file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\arenas\../textures/cream-plaster.png" name="tex-cream-plaster" type="2d" />
    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.1" texrepeat="3 3" texture="tex-cream-plaster" texuniform="true" />

    <texture builtin="flat" height="512" name="textable" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5" width="512" />
    <material name="table_mat" texture="textable" />

  <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/base.stl" name="robot0_base" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/shoulder.stl" name="robot0_shoulder" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/ring_big.stl" name="robot0_ring_big" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/arm_half_1.stl" name="robot0_arm_half_1" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/arm_half_2.stl" name="robot0_arm_half_2" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/forearm.stl" name="robot0_forearm" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/ring_small.stl" name="robot0_ring_small" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/wrist_spherical_1.stl" name="robot0_wrist_spherical_1" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\robots\jaco\meshes/wrist_spherical_2.stl" name="robot0_wrist_spherical_2" />

        <texture builtin="flat" height="100" name="robot0_carbon_tex" rgb1="1 1 1" rgb2="1 1 1" type="cube" width="100" />
        <texture builtin="flat" height="100" name="robot0_grey_plastic_tex" rgb1="1 1 1" rgb2="1 1 1" type="cube" width="100" />
        <material name="robot0_carbon_jaco" rgba="0.05 0.05 0.05 1" texture="robot0_carbon_tex" />
        <material name="robot0_grey_plastic_jaco" rgba="0.88 0.86 0.86 1" texture="robot0_grey_plastic_tex" />
    <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\mounts\meshes/rethink_mount/pedestal.stl" name="mount0_pedestal" />
    <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\grippers\meshes/jaco_three_finger_gripper/hand_3finger.stl" name="gripper0_hand_3finger" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\grippers\meshes/jaco_three_finger_gripper/finger_proximal.stl" name="gripper0_finger_proximal" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\grippers\meshes/jaco_three_finger_gripper/finger_distal.stl" name="gripper0_finger_distal" />
        <mesh file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\grippers\meshes/jaco_three_finger_gripper/ring_small.stl" name="gripper0_ring_small" />

        <texture builtin="flat" height="100" name="gripper0_carbon_tex" rgb1="1 1 1" rgb2="1 1 1" type="cube" width="100" />
        <texture builtin="flat" height="100" name="gripper0_grey_plastic_tex" rgb1="1 1 1" rgb2="1 1 1" type="cube" width="100" />
        <material name="gripper0_carbon_hand" rgba="0.05 0.05 0.05 1" texture="gripper0_carbon_tex" />
        <material name="gripper0_grey_plastic_hand" rgba="0.88 0.86 0.86 1" texture="gripper0_grey_plastic_tex" />
    <texture file="C:\Users\xxxxxx\AppData\Roaming\Python\Python37\site-packages\robosuite\models\assets\textures\red-wood.png" name="cube_redwood" type="cube" /><material name="cube_redwood_mat" shininess="0.1" specular="0.4" texrepeat="1 1" texture="cube_redwood" /></asset>

  <visual>
    <map znear="0.001" />
  </visual>

  <actuator>
  <motor ctrllimited="true" ctrlrange="-30.5 30.5" joint="robot0_j2s7s300_joint_1" name="robot0_torq_j1" />
        <motor ctrllimited="true" ctrlrange="-30.5 30.5" joint="robot0_j2s7s300_joint_2" name="robot0_torq_j2" />
        <motor ctrllimited="true" ctrlrange="-30.5 30.5" joint="robot0_j2s7s300_joint_3" name="robot0_torq_j3" />
        <motor ctrllimited="true" ctrlrange="-30.5 30.5" joint="robot0_j2s7s300_joint_4" name="robot0_torq_j4" />
        <motor ctrllimited="true" ctrlrange="-30.5 30.5" joint="robot0_j2s7s300_joint_5" name="robot0_torq_j5" />
        <motor ctrllimited="true" ctrlrange="-6.8 6.8" joint="robot0_j2s7s300_joint_6" name="robot0_torq_j6" />
        <motor ctrllimited="true" ctrlrange="-6.8 6.8" joint="robot0_j2s7s300_joint_7" name="robot0_torq_j7" />
    <position ctrllimited="true" ctrlrange="0 1.51" forcelimited="true" forcerange="-0.3 0.3" joint="gripper0_joint_thumb" kp="20" name="gripper0_thumb" />
        <position ctrllimited="true" ctrlrange="0 1.51" forcelimited="true" forcerange="-0.3 0.3" joint="gripper0_joint_index" kp="20" name="gripper0_index" />
        <position ctrllimited="true" ctrlrange="0 1.51" forcelimited="true" forcerange="-0.3 0.3" joint="gripper0_joint_pinky" kp="20" name="gripper0_pinky" />
    </actuator>

  <worldbody>
  <geom condim="3" material="floorplane" name="floor" pos="0.0 0.0 0.0" size="3 3 .125" type="plane" />

    <geom conaffinity="0" contype="0" group="1" material="walls_mat" name="wall_leftcorner_visual" pos="-1.25 2.25 1.5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="1.06 1.5 0.01" type="box" />
    <geom conaffinity="0" contype="0" group="1" material="walls_mat" name="wall_rightcorner_visual" pos="-1.25 -2.25 1.5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="1.06 1.5 0.01" type="box" />
    <geom conaffinity="0" contype="0" group="1" material="walls_mat" name="wall_left_visual" pos="1.25 3.0 1.5" quat="0.7071 0.7071 0 0" size="1.75 1.5 0.01" type="box" />
    <geom conaffinity="0" contype="0" group="1" material="walls_mat" name="wall_right_visual" pos="1.25 -3.0 1.5" quat="0.7071 -0.7071 0 0" size="1.75 1.5 0.01" type="box" />
    <geom conaffinity="0" contype="0" group="1" material="walls_mat" name="wall_rear_visual" pos="-2.0 0.0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" />
    <geom conaffinity="0" contype="0" group="1" material="walls_mat" name="wall_front_visual" pos="3.0 0.0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" />

    <body name="table" pos="0.0 0.0 0.775">
      <geom friction="1.0 0.005 0.0001" group="0" name="table_collision" pos="0 0 0" rgba="0.5 0.5 0 1" size="0.4 0.4 0.025" type="box" />
      <geom conaffinity="0" contype="0" group="1" material="table_ceramic" name="table_visual" pos="0 0 0" size="0.4 0.4 0.025" type="box" />
      <site name="table_top" pos="0.0 0.0 0.025" rgba="0 0 0 0" size="0.001 0.001 0.001" />

      <geom conaffinity="0" contype="0" group="1" material="table_legs_metal" name="table_leg1_visual" pos="0.30000000000000004 0.30000000000000004 -0.3875" size="0.025 0.3875" type="cylinder" />
      <geom conaffinity="0" contype="0" group="1" material="table_legs_metal" name="table_leg2_visual" pos="-0.30000000000000004 0.30000000000000004 -0.3875" size="0.025 0.3875" type="cylinder" />
      <geom conaffinity="0" contype="0" group="1" material="table_legs_metal" name="table_leg3_visual" pos="-0.30000000000000004 -0.30000000000000004 -0.3875" size="0.025 0.3875" type="cylinder" />
      <geom conaffinity="0" contype="0" group="1" material="table_legs_metal" name="table_leg4_visual" pos="0.30000000000000004 -0.30000000000000004 -0.3875" size="0.025 0.3875" type="cylinder" />
    </body>

    <light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" name="light1" pos="1.0 1.0 4.0" specular="0.3 0.3 0.3" />
    <light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" name="light2" pos="-3.0 -3.0 4.0" specular="0.3 0.3 0.3" />

    <camera mode="fixed" name="frontview" pos="1.6 0.0 1.45" quat="0.56 0.43 0.43 0.56" />

    <camera mode="fixed" name="birdview" pos="-0.2 0.0 3.0" quat="0.7071 0 0 0.7071" />

    <camera mode="fixed" name="agentview" pos="0.5 0.0 1.35" quat="0.653 0.271 0.271 0.653" />

    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
  <body name="robot0_base" pos="-0.56 0.0 0.912">

            <camera mode="fixed" name="robot0_robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653" />
            <inertial diaginertia="0 0 0" mass="0" pos="0 0 0" />

            <body name="robot0_j2s7s300_link_0" pos="0 0 0">
                <inertial diaginertia="0.4 0.4 0.4" mass="4" pos="0 0 0.05" />
                <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_base" name="robot0_g0_vis" type="mesh" />
                <geom conaffinity="1" contype="0" mesh="robot0_base" name="robot0_base_collision" rgba="0 0.5 0 1" type="mesh" />
                <body name="robot0_j2s7s300_link_1" pos="0 0 0.15675" quat="0 0 1 0">
                    <inertial diaginertia="0.00152032 0.00152032 0.00059816" mass="0.7477" pos="0 -0.002 -0.0605" />
                    <joint armature="5.0" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_1" pos="0 0 0" range="-6.28319 6.28319" />
                    <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_shoulder" name="robot0_s_visual" type="mesh" />
                    <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco" mesh="robot0_ring_big" name="robot0_s_ring_visual" type="mesh" />
                    <geom conaffinity="1" contype="0" mesh="robot0_shoulder" name="robot0_s_collision" rgba="0 0.5 0 1" type="mesh" />
                    <body name="robot0_j2s7s300_link_2" pos="0 0.0016 -0.11875" quat="0 0 -0.707107 0.707107">
                        <inertial diaginertia="0.00247074 0.00247074 0.000380115" mass="0.8447" pos="0 -0.103563 0" quat="0.707107 0.707107 0 0" />
                        <joint armature="2.5" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_2" pos="0 0 0" range="0.820305 5.46288" />
                        <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_arm_half_1" name="robot0_ah1_visual" type="mesh" />
                        <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco" mesh="robot0_ring_big" name="robot0_ah1_ring_visual" type="mesh" />
                        <geom mesh="robot0_arm_half_1" name="robot0_ah1_collision" rgba="0 0.5 0 1" type="mesh" />
                        <body name="robot0_j2s7s300_link_3" pos="0 -0.205 0" quat="0.707107 -0.707107 0 0">
                            <inertial diaginertia="0.00247074 0.00247074 0.000380115" mass="0.8447" pos="0 0 -0.102245" />
                            <joint armature="1.6666666666666667" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_3" pos="0 0 0" range="-6.28319 6.28319" />
                            <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_arm_half_2" name="robot0_ah2_visual" type="mesh" />
                            <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco" mesh="robot0_ring_big" name="robot0_ah2_ring_visual" type="mesh" />
                            <geom mesh="robot0_arm_half_2" name="robot0_ah2_collision" rgba="0 0.5 0 1" type="mesh" />
                            <body name="robot0_j2s7s300_link_4" pos="0 0 -0.205" quat="0 0 0.707107 0.707107">
                                <inertial diaginertia="0.00142022 0.00142022 0.000304335" mass="0.6763" pos="0 0.081 -0.0086" quat="0.707107 0.707107 0 0" />
                                <joint armature="1.25" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_4" pos="0 0 0" range="0.523599 5.75959" />
                                <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_forearm" name="robot0_f_visual" type="mesh" />
                                <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco" mesh="robot0_ring_small" name="robot0_f_ring_visual" type="mesh" />
                                <geom mesh="robot0_forearm" name="robot0_f_collision" rgba="0 0.5 0 1" type="mesh" />
                                <body name="robot0_j2s7s300_link_5" pos="0 0.2073 -0.0114" quat="0 0 -0.707107 0.707107">
                                    <inertial diaginertia="0.000432132 0.000432132 9.26e-05" mass="0.463" pos="0 0.00288489 -0.0541933" />
                                    <joint armature="1.0" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_5" pos="0 0 0" range="-6.28319 6.28319" />
                                    <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_wrist_spherical_1" name="robot0_ws1_visual" type="mesh" />
                                    <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco" mesh="robot0_ring_small" name="robot0_ws1_ring_visual" type="mesh" />
                                    <geom mesh="robot0_wrist_spherical_1" name="robot0_ws1_collision" rgba="0 0.5 0 1" type="mesh" />
                                    <body name="robot0_j2s7s300_link_6" pos="0 0 -0.10375" quat="0 0 0.707107 0.707107">
                                        <inertial diaginertia="0.000432132 0.000432132 9.26e-05" mass="0.463" pos="0 0.0497209 -0.00285628" quat="0.707107 0.707107 0 0" />
                                        <joint armature="0.8333333333333334" axis="0 0 1" damping="0.01" frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_6" pos="0 0 0" range="1.13446 5.14872" />
                                        <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_wrist_spherical_2" name="robot0_ws2_visual" type="mesh" />
                                        <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco" mesh="robot0_ring_small" name="robot0_ws2_ring_visual" type="mesh" />
                                        <geom mesh="robot0_wrist_spherical_2" name="robot0_ws2_collision" rgba="0 0.5 0 1" type="mesh" />
                                        <body name="robot0_j2s7s300_link_7" pos="0 0.10375 0" quat="0 0 -0.707107 0.707107">
                                            <inertial diaginertia="1e-6 1e-6 1e-6" mass="1e-6" pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" /> 
                                            <joint armature="0.7142857142857143" axis="0 0 1" damping="0.01" frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_7" pos="0 0 0" range="-6.28319 6.28319" />
                                            <body name="robot0_right_hand" pos="0 0 0" quat="0 1 0 0">

                                                <camera fovy="75" mode="fixed" name="robot0_eye_in_hand" pos="0.08 0 0" quat="0 0.707108 0.707108 0" />

                                            <body name="gripper0_right_gripper" pos="0 0 0">
            <inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-6" pos="0 0 0" />
            <body name="gripper0_palm" pos="0 0 0" quat="0 -1 0 0">
                <inertial diaginertia="0.0005816 0.000345324 0.000345324" mass="0.99" pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" />
                <geom conaffinity="0" contype="0" group="1" material="gripper0_carbon_hand" mesh="gripper0_hand_3finger" name="gripper0_hand_visual" type="mesh" />
                <geom conaffinity="0" contype="0" group="1" material="gripper0_grey_plastic_hand" mesh="gripper0_ring_small" name="gripper0_hand_ring_visual" type="mesh" />
                <geom group="0" mesh="gripper0_hand_3finger" name="gripper0_hand_collision" rgba="0 0 0.5 1" type="mesh" />

                <site group="1" name="gripper0_ft_frame" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere" />

                <body name="gripper0_eef" pos="0 0 -0.1775" quat="0 0.707105 0.707108 0 ">
                    <site group="1" name="gripper0_grip_site" pos="0 0 0" rgba="1 0 0 0.5" size="0.01 0.01 0.01" type="sphere" />
                    <site group="1" name="gripper0_ee_x" pos="0.1 0 0" quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" size="0.005 .1" type="cylinder" />
                    <site group="1" name="gripper0_ee_y" pos="0 0.1 0" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" size="0.005 .1" type="cylinder" />
                    <site group="1" name="gripper0_ee_z" pos="0 0 0.1" quat="1 0 0 0" rgba="0 0 1 0" size="0.005 .1" type="cylinder" />

                    <site group="1" name="gripper0_grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0.3" size="0.005 10" type="cylinder" />
                </body>
            </body>

            <body name="gripper0_thumb_proximal" pos="0.002786 -0.03126 0.114668" quat="0.95922726  0.262085 0.02762996 -0.10213274">
                <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08" mass="0.01" pos="0.022 0 0" />
                <joint axis="1 0 0" damping="0.15" limited="true" name="gripper0_joint_thumb" pos="0 0 0" range="0 1.51" ref="1.1" />
                <geom conaffinity="0" contype="0" euler="0 -1.5707 0" group="1" material="gripper0_grey_plastic_hand" mesh="gripper0_finger_proximal" name="gripper0_thumb_proximal_visual" type="mesh" />
                <geom euler="0 -1.5707 0" friction="1 0.5 0.01" group="0" mesh="gripper0_finger_proximal" name="gripper0_thumb_proximal_collision" rgba="0 0 0.5 1" type="mesh" />

                <body name="gripper0_thumb_distal" pos="0 -0.003 0.044">
                    <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08" mass="0.01" pos="0.022 0 0" />
                    <joint axis="-1 0 0" damping="0.1" limited="true" name="gripper0_joint_thumb_distal" pos="0 0 0" range="0 2" ref="-0.5" />
                    <geom conaffinity="0" contype="0" euler="0 -1.5707 0" group="1" material="gripper0_grey_plastic_hand" mesh="gripper0_finger_distal" name="gripper0_thumb_distal_visual" type="mesh" />
                    <geom euler="0 -1.5707 0" friction="1 0.5 0.01" group="0" mesh="gripper0_finger_distal" name="gripper0_thumb_distal_collision" rgba="0 0 0.5 1" type="mesh" />
                    <geom friction="2 0.05 0.001" group="0" name="gripper0_thumb_tip_collision" pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0" rgba="0 0 0.5 1" size="0.01 0.005 0.02" solref="0.01 0.25" type="box" />
                    <geom group="0" name="gripper0_thumb_pad_collision" pos="0 0.0015 0.023" quat="0.9914449 0.1305262 0 0" rgba="0 0 0.5 1" size="0.008 0.001 0.018" type="box" />
                </body>
            </body>

            <body name="gripper0_index_proximal" pos="0.022256 0.027073 0.114668" quat="0.96181018 -0.25771638 0.0238668 -0.08907205">
                <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08" mass="0.01" pos="0.022 0 0" />
                <joint axis="-1 0 0" damping="0.15" limited="true" name="gripper0_joint_index" pos="0 0 0" range="0 1.51" ref="1.1" />
                <geom conaffinity="0" contype="0" group="1" material="gripper0_grey_plastic_hand" mesh="gripper0_finger_proximal" name="gripper0_index_proximal_visual" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" type="mesh" />
                <geom friction="1 0.5 0.01" group="0" mesh="gripper0_finger_proximal" name="gripper0_index_proximal_collision" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" rgba="0 0 0.5 1" type="mesh" />

                <body name="gripper0_index_distal" pos="0 0.003 0.044">
                    <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08" mass="0.01" pos="0.022 0 0" />
                    <joint axis="1 0 0" damping="0.1" limited="true" name="gripper0_joint_index_distal" pos="0 0 0" range="0 2" ref="-0.5" />
                    <geom conaffinity="0" contype="0" group="1" material="gripper0_grey_plastic_hand" mesh="gripper0_finger_distal" name="gripper0_index_distal_visual" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" type="mesh" />
                    <geom friction="1 0.5 0.01" group="0" mesh="gripper0_finger_distal" name="gripper0_index_distal_collision" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" rgba="0 0 0.5 1" type="mesh" />
                    <geom friction="2 0.05 0.001" group="0" name="gripper0_index_tip_collision" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" rgba="0 0 0.5 1" size="0.01 0.005 0.02" solref="0.01 0.25" type="box" />
                    <geom group="0" name="gripper0_index_pad_collision" pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0" rgba="0 0 0.5 1" size="0.008 0.001 0.018" type="box" />
                </body>
            </body>

            <body name="gripper0_pinky_proximal" pos="-0.022256 0.027073 0.114816" quat="0.96181018 -0.25771638 -0.0238668 0.08907205">
                <joint axis="-1 0 0" damping="0.15" limited="true" name="gripper0_joint_pinky" pos="0 0 0" range="0 1.51" ref="1.1" />
                <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08" mass="0.01" pos="0.022 0 0" />
                <geom conaffinity="0" contype="0" group="1" material="gripper0_grey_plastic_hand" mesh="gripper0_finger_proximal" name="gripper0_pinky_proximal_visual" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" type="mesh" />
                <geom friction="1 0.5 0.01" group="0" mesh="gripper0_finger_proximal" name="gripper0_pinky_proximal_collision" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" rgba="0 0 0.5 1" type="mesh" />

                <body name="gripper0_pinky_distal" pos="0 0.003 0.044">
                    <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08" mass="0.01" pos="0.022 0 0" />
                    <joint axis="1 0 0" damping="0.1" limited="true" name="gripper0_joint_pinky_distal" pos="0 0 0" range="0 2" ref="-0.5" />
                    <geom conaffinity="0" contype="0" group="1" material="gripper0_grey_plastic_hand" mesh="gripper0_finger_distal" name="gripper0_pinky_distal_visual" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" type="mesh" />
                    <geom friction="1 0.5 0.01" group="0" mesh="gripper0_finger_distal" name="gripper0_pinky_distal_collision" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" rgba="0 0 0.5 1" type="mesh" />
                    <geom friction="2 0.05 0.001" group="0" name="gripper0_pinky_tip_collision" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" rgba="0 0 0.5 1" size="0.01 0.005 0.02" solref="0.01 0.25" type="box" />
                    <geom group="0" name="gripper0_pinky_pad_collision" pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0" rgba="0 0 0.5 1" size="0.008 0.001 0.018" type="box" />
                </body>
            </body>
        </body>
    </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        <body name="mount0_base" pos="0.0 0.0 0.01">
            <body name="mount0_controller_box" pos="0 0 0">
                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
                <geom name="mount0_controller_box_col" pos="-0.325 0 -0.38" rgba="0.5 0.5 0 1" size="0.11 0.2 0.265" type="box" />
            </body>
            <body name="mount0_pedestal_feet" pos="0 0 0">
                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
                <geom name="mount0_pedestal_feet_col" pos="-0.1225 0 -0.758" rgba="0.5 0.5 0 1" size="0.385 0.35 0.155" type="box" />
            </body>
            <body name="mount0_torso" pos="0 0 0">
                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
                <geom conaffinity="0" contype="0" group="1" name="mount0_torso_vis" pos="0 0 -0.05" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" />
            </body>
            <body name="mount0_pedestal" pos="0 0 0">
                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
                <geom conaffinity="0" contype="0" group="1" mesh="mount0_pedestal" name="mount0_pedestal_vis" rgba="0.2 0.2 0.2 1" type="mesh" />
                <geom name="mount0_pedestal_col" pos="-0.02 0 -0.29" rgba="0.5 0.5 0 1" size="0.18 0.31" type="cylinder" />
            </body>
        </body>
    </body>
    <body name="cube_main" pos="0 0 0"><geom density="1000" friction="1 0.005 0.0001" group="0" name="cube_g0" pos="0 0 0" rgba="0.5 0 0 1" size="0.02156592701769048 0.020523022827786327 0.02059839327610381" solimp="0.9 0.95 0.001" solref="0.02 1.0" type="box" /><geom conaffinity="0" contype="0" group="1" mass="1e-8" material="cube_redwood_mat" name="cube_g0_vis" pos="0 0 0" size="0.02156592701769048 0.020523022827786327 0.02059839327610381" type="box" /><joint name="cube_joint0" type="free" /><site group="0" name="cube_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /></body></worldbody>

  <equality>
  <tendon name="gripper0_thumb_cpl" tendon1="gripper0_thumb_cpl" />

        <tendon name="gripper0_index_12_cpl" tendon1="gripper0_index_12_cpl" />

        <tendon name="gripper0_pinky_12_cpl" tendon1="gripper0_pinky_12_cpl" />
    </equality>
<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
    </sensor><tendon><fixed frictionloss="0.4" name="gripper0_thumb_cpl" range="-5 5" springlength="0.2" stiffness="3.0">
            <joint coef="0.4" joint="gripper0_joint_thumb" />
            <joint coef="-0.4" joint="gripper0_joint_thumb_distal" />
        </fixed>

        <fixed frictionloss="0.4" name="gripper0_index_12_cpl" range="-5 5" springlength="0.2" stiffness="3.0">
            <joint coef="0.4" joint="gripper0_joint_index" />
            <joint coef="-0.4" joint="gripper0_joint_index_distal" />
        </fixed>

        <fixed frictionloss="0.4" name="gripper0_pinky_12_cpl" range="-5 5" springlength="0.2" stiffness="3.0">
            <joint coef="0.4" joint="gripper0_joint_pinky" />
            <joint coef="-0.4" joint="gripper0_joint_pinky_distal" />
        </fixed>
    </tendon><contact /></mujoco>
Failed to load XML from string. mj_loadXML error: b'XML parse error at line 0, column 0:\nFailed to open file\n'

Process finished with exit code 1
ldepn commented 2 years ago

I meet the same issue, did you have solve？

tobi-ostfalia commented 1 year ago

I'm on robosuite 1.4.0 and I have the same error, and one more: ModuleNotFoundError: No module named 'robosuite.macros_private' FileNotFoundError: [Errno 2] No such file or directory: 'C:\\tmp\\robosuite.log' Both are on line 0, at the import.

ldepn commented 1 year ago

您的邮件已收到，我会尽快处理！

junaun commented 1 year ago

I'm on robosuite 1.4.0 and I have the same error, and one more: ModuleNotFoundError: No module named 'robosuite.macros_private' FileNotFoundError: [Errno 2] No such file or directory: 'C:\\tmp\\robosuite.log' Both are on line 0, at the import.

I facing the same issue when installing robosuite 1.4.0 on Windows 10 with conda env python3.8, this is because robosuite only support Linux and macOS. I have found a solution from this article written in Chinese: https://zhuanlan.zhihu.com/p/607578201

  1. For this error: FileNotFoundError: [Errno 2] No such file or directory: 'C:\\tmp\\robosuite.log', create a folder named 'tmp' under C:\
  2. Next you will face mujoco.dll not found error, go to anaconda3\envs\{your env name}\Lib\site-packages\mujoco, copy mujoco.dll and paste it to anaconda3\envs\{your env name}\Lib\site-packages\robosuite\utils
  3. Go to binding_utils.py inside the robosuite\utils folder, go to line 43 and change egl in os.environ["MUJOCO_GL"] = "egl" to "wgl" 
    if macros.MUJOCO_GPU_RENDERING and os.environ.get("MUJOCO_GL", None) not in ["osmesa", "glx"]:
# If gpu rendering is specified in macros, then we enforce gpu
# option for rendering
if _SYSTEM == "Darwin":
    os.environ["MUJOCO_GL"] = "cgl"
else:
    os.environ["MUJOCO_GL"] = "wgl"
  4. Should be working now, run the test: python -m robosuite.demos.demo_random_action