cannot see name of a joint

ShahhhVihaan commented 2 years ago

Hi, I'm a student trying to build a simulation of a quadruped leg. It's a simple model with three parts of the leg attached using two revolute joints.

I'm having some trouble simulating the urdf file that I have exported from solidworks.

I exported a urdf file from solidworks and the I converted it into a mujoco xml file using compile. The model renders perfectly okay but I cannot see the name of the second joint that is "knee_joint" in the window. Thus I cannot see the qpos. Is there a problem with my xml file? Can someone please help me fix this?

<mujoco model="2dof_leg_module_v3">
    <compiler angle="radian" meshdir="../meshes/" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="hip_module" file="hip_module.STL" />
        <mesh name="upper_leg" file="upper_leg.STL" />
        <mesh name="lower_leg" file="lower_leg.STL" />
    </asset>
    <option gravity = "0 0 0"/>
    <worldbody>
        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.752941 0.752941 0.752941 1" mesh="hip_module" />
        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="hip_module" />
        <body name="upper_leg" pos="0.066577 -0.011968 -0.0185">
            <inertial pos="-0.0578208 -0.0212739 -0.0555578" quat="0.640784 0.254162 0.299142 0.659781" mass="0.0942771" diaginertia="0.000160483 0.000154497 1.3996e-05" />
            <joint name="hip_joint" pos="0 0 0" axis="0 -1 0" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.752941 0.752941 0.752941 1" mesh="upper_leg" />
            <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="upper_leg" />
            <body name="lower_leg" pos="-0.11534 -0.0324 -0.11089">
                <inertial pos="0.0478755 -0.0138956 -0.0466193" quat="0.281232 0.654101 0.648775 0.26861" mass="0.037401" diaginertia="0.000102588 0.000101714 1.74264e-06" />
                <joint name="knee_joint" pos="0 0 0" axis="0 1 0" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.752941 0.752941 0.752941 1" mesh="lower_leg" />
                <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="lower_leg" />
            </body>
        </body>
    </worldbody>
</mujoco>

yuvaltassa commented 2 years ago

Sorry, I don't understand

cannot see the name of the second joint that is "knee_joint" in the window

What window? Perhaps attach a screenshot?

ShahhhVihaan commented 2 years ago

2dof_mujoco_testing @yuvaltassa Here's the image. I cannot see "knee_joint" on the top right.

yuvaltassa commented 2 years ago

Please attach a loadable model and I will take a look. (I need the meshes. You can attach everything as a zip)

ShahhhVihaan commented 2 years ago

@yuvaltassa 2dof_leg_mujoco.zip Here are the mesh, urdf and xml files.

yuvaltassa commented 2 years ago

I see the knee joint?

ShahhhVihaan commented 2 years ago

May I ask what version of Mujoco you are using? I am using 210.

For someone reason I cannot see it.

Also what platform are you using?

yuvaltassa commented 2 years ago

I loaded this in MuJoCo 2.2.1 on an M1 Mac.

Can anyone else here replicate the OP's problem?

ShahhhVihaan commented 2 years ago

I am having this problem in MuJoCo 2.2.1 and 210 in Ubuntu.

yuvaltassa commented 2 years ago

Okay, I will try to reproduce on Ubuntu with 2.2.1

To clarify, you mean the prebuit binary, you are not building from source. Correct?

ShahhhVihaan commented 2 years ago

I first tried the binary and later I also built it from the source.

yuvaltassa commented 2 years ago

Hi!

So the good news is we can repro this. It's a very strange issue. Note that this is "solved" by opening the control tab, in which case the slider is fine but the "Clear all" button loses the text. This is reversible. Close the control tab and the joint slider goes blank. So the symptom is, the last GUI element on the RHS doesn’t get its text rendered, but only sometimes and only on Linux. We will keep looking into this. Thanks for your reproducible bug report. Leaving the issue open.

nimrod-gileadi commented 1 year ago

Seems to be fixed. Probably by some GLFW update.

google-deepmind / mujoco

cannot see name of a joint #426