Open kracon7 opened 5 years ago
Same for me on macos (python 3.7.3, mujoco200, mujoco-py 2.0.2.2), might be related to #373 ?
Maybe you should add a prefix for every composite object when you construct multiple composite objects.
I also faced a similar issue while working with multiple soft bodies in the simulation.
Below is an example on how to add prefix for multiple composite bodies, as mentioned by @JadeCong
<body name="A" pos="0. 0. 0.075" quat="0.5 0.5 -0.5 -0.5">
<composite prefix="A" type="box" count="6 4 4" spacing="0.05" solrefsmooth="-1324.17 -17.59">
<geom type="capsule" size="0.0075 0.025" rgba=".8 .2 .1 1" mass="0.1" friction="0.01 0.005 0.0001" contype="0" group="0"/>
<skin material="skin-material" texcoord="true"/>
</composite>
</body>
<body name="B" pos="0.15 0. 0.075" quat="0.5 0.5 -0.5 -0.5">
<composite prefix="B" type="box" count="6 4 4" spacing="0.05" solrefsmooth="-1324.17 -17.59">
<geom type="capsule" size="0.0075 0.025" rgba=".8 .2 .1 1" mass="0.001" friction="0.01 0.005 0.0001" contype="0" group="0"/>
<skin material="skin-material" texcoord="true"/>
</composite>
</body>
<body name="C" pos="-0.15 0. 0.075" quat="0.5 0.5 -0.5 -0.5">
<composite prefix="C" type="box" count="6 4 4" spacing="0.05" solrefsmooth="-1324.17 -17.59">
<geom type="capsule" size="0.0075 0.025" rgba=".8 .2 .1 1" mass="0.001" friction="0.01 0.005 0.0001" contype="0" group="0"/>
<skin material="skin-material" texcoord="true"/>
</composite>
</body>
Hi, I was trying to simulate deformable object with mujoco200 and mujoco-py. There are two composite bodies in the XML file. Mujoco-py failed to render objects that don't include composite bodies. However, if I remove one composite body and left with only one, everything is fine.
Here's the XML file I used:
And the python scripts to test the render issue:
By commenting out one of the composite body, the render is back to normal.
Environment
output of:
echo $LD_LIBRARY_PATH
: /home/jc/catkin_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/jc/.mujoco/mujoco200/bin:/usr/lib/nvidia-410output of:
echo $HOME
: /home/jcoutput of:
echo $USER
: jc