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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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Reference frame - visual #264

Closed danielstankw closed 2 years ago

danielstankw commented 2 years ago

Hi everyone, I am using Robosuite which is based on mujoco to perform RL. The issue I have is that every time I try to visualize the coordinate system of robot joints the axis are thick and obscure the view. Can anyone suggest where can I find how to decrease the radius of those cylinders? image

yuvaltassa commented 2 years ago

You'd want to tweak the <visual> <scale/>... elements.

danielstankw commented 2 years ago 
<mujoco model="ur5e">
    <actuator>
        <!-- Physical limits of the actuator. -->
        <!-- Values taken from https://www.universal-robots.com/articles/ur-articles/max-joint-torques/ -->
        <motor ctrllimited="true" ctrlrange="-150.0 150.0" joint="shoulder_pan_joint" name="torq_j1"/>
        <motor ctrllimited="true" ctrlrange="-150.0 150.0" joint="shoulder_lift_joint" name="torq_j2"/>
        <motor ctrllimited="true" ctrlrange="-150.0 150.0" joint="elbow_joint" name="torq_j3"/>
        <motor ctrllimited="true" ctrlrange="-28.0 28.0" joint="wrist_1_joint" name="torq_j4"/>
        <motor ctrllimited="true" ctrlrange="-28.0 28.0" joint="wrist_2_joint" name="torq_j5"/>
        <motor ctrllimited="true" ctrlrange="-28.0 28.0" joint="wrist_3_joint" name="torq_j6"/>
    </actuator>
    <asset>
        <mesh name="base" file="meshes/base.stl" />
        <mesh name="shoulder" file="meshes/shoulder.stl" />
        <mesh name="upperarm" file="meshes/upperarm.stl" />
        <mesh name="forearm" file="meshes/forearm.stl" />
        <mesh name="wrist1" file="meshes/wrist1.stl" />
        <mesh name="wrist2" file="meshes/wrist2.stl" />
        <mesh name="wrist3" file="meshes/wrist3.stl" />
        <mesh name="base_vis" file="meshes/base_vis.stl" />
        <mesh name="shoulder_vis" file="meshes/shoulder_vis.stl" />
        <mesh name="upperarm_vis" file="meshes/upperarm_vis.stl" />
        <mesh name="forearm_vis" file="meshes/forearm_vis.stl" />
        <mesh name="wrist1_vis" file="meshes/wrist1_vis.stl" />
        <mesh name="wrist2_vis" file="meshes/wrist2_vis.stl" />
        <mesh name="wrist3_vis" file="meshes/wrist3_vis.stl" />
    </asset>
    <worldbody>
        <body name="base" pos="0 0 0">
            <!-- robot view -->
            <camera mode="fixed" name="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"/>
            <!-- mount attached here -->
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="base_vis" />
            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" name="base_col"/>
            <body name="shoulder_link" pos="0 0 0.163">
                <inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
                <joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="shoulder_vis" name="shoulder_visual" />
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" name="shoulder_col" />
                <body name="upper_arm_link" pos="0 0.138 0" quat="0.707107 0 0.707107 0">
                    <inertial pos="0 0 0.2125" mass="8.393" diaginertia="0.133886 0.133886 0.0151074" />
                    <joint name="shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="upperarm_vis" name="upperarm_visual" />
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" name="upperarm_col"/>
                    <body name="forearm_link" pos="0 -0.131 0.425">
                        <inertial pos="0 0 0.196" mass="2.275" diaginertia="0.0311796 0.0311796 0.004095" />
                        <joint name="elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" damping="0.001" frictionloss="0.01" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="forearm_vis" name="forearm_visual" />
                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm" name="forearm_col"/>
                        <body name="wrist_1_link" pos="0 0 0.392" quat="0.707107 0 0.707107 0">
                            <inertial pos="0 0.127 0" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
                            <joint name="wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist1_vis" name="wrist1_visual" />
                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" name="wrist1_col" />
                            <body name="wrist_2_link" pos="0 0.127 0">
                                <inertial pos="0 0 0.1" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
                                <joint name="wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist2_vis" name="wrist2_visual" />
                                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" name="wrist2_col" />
                                <body name="wrist_3_link" pos="0 0 0.1">
                                    <inertial pos="0 0.0771683 0" quat="0.707107 0 0 0.707107" mass="0.1889" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
                                    <joint name="wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist3_vis" name="wrist3_visual" />
                                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" name="wrist3_col" />
                                    <geom size="0.005 0.005 0.005" pos="0 0.09 0" quat="0.707107 0 0 0.707107" type="box" name="wrist3_col2"/>
                                    <body name="right_hand" pos="0 0.098 0" quat="0.707 -0.707 0 0" >
                                        <!-- This camera points out from the eef. -->
                                        <camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
                                        <!-- To add gripper -->
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
</mujoco>
danielstankw commented 2 years ago

I dont have any of those parameters of XML that you mentioned

yuvaltassa commented 2 years ago

No, indeed you do not have them. I am proposing that you add them.

Here for example is an XML with a visual clause.

danielstankw commented 2 years ago

No, indeed you do not have them. I am proposing that you add them.

Here for example is an XML with a visual clause.

Yes, but adding them didnt help as when i run the simulation they are already there. I just need to find how to modify them which I am havingissues with.

yuvaltassa commented 2 years ago

What do you mean "they are already there"? You mean you want to modify visual scales at runtime, after the model has been compiled?

If you are using our python bindings via dm_control, given a compiled model, you would do something like

model.vis.scale.framewidth = x

I hope this is what you mean.

kevinzakka commented 2 years ago

Chiming in with an example from dm_control.