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自定义的xml 文件不在仿真环境显示 #548

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flyme45 opened this issue Jan 12, 2025 · 4 comments · May be fixed by #553
Open

自定义的xml 文件不在仿真环境显示 #548

flyme45 opened this issue Jan 12, 2025 · 4 comments · May be fixed by #553

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@flyme45
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flyme45 commented Jan 12, 2025

my xml can be displayed in mujoco but not in genesis.
but i can see the Coordinate axis of every links in genesis
截图 2025-01-12 23-29-44
cu1tuv54335aig467u9g

this is my xml:
`



<asset>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512" />
    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8" />

    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" />
    
    <mesh file="path/to/your/stl/file.stl"/>
</asset>

<worldbody>
    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />

    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1" />

    <body name="b0" pos="0 0 1">
        <geom type="box" size="0.2 0.025 0.025" rgba=".8 .2 .1 1" />
        <body name="b1" pos="-0.2 0 -0.2" euler="0 90 0">
            <geom type="box" size="0.2 0.025 0.025" rgba=".8 .2 .1 1" />
            <joint name="j0" type="hinge" pos="-0.2 0 0" axis="0 1 0" />
            <body name="b3" pos="0.2 0 0.2" euler="0 -90 0">
                <geom type="box" size="0.2 0.025 0.025" rgba=".8 .2 .1 1" />
                <joint name="j3" type="hinge" pos="-0.2 0 0" axis="0 1 0" />
            </body>
        </body>
        <body name="b2" pos="0.2 0 -0.2" euler="0 90 0">
            <geom type="box" size="0.2 0.025 0.025" rgba=".8 .2 .1 1" />
            <joint name="j2" type="hinge" pos="-0.2 0 0" axis="0 1 0" />
        </body>
    </body>
</worldbody>

<contact>
    <exclude name="e0" body1="b0" body2="b1" />
    <exclude name="e1" body1="b0" body2="b2" />
    <exclude name="e2" body1="b3" body2="b2" />
</contact>

<equality>
    <connect name="c1" body1="b2" body2="b3" anchor="0.2 0 0" />
</equality>

<actuator>
    <position joint="j0" ctrllimited="true" ctrlrange="-0.875 0.875" />
    <position joint="j2" ctrllimited="true" ctrlrange="-0.875 0.875" />
    <position joint="j3" ctrllimited="true" ctrlrange="-0.875 0.875" />
</actuator>
` **and i also used stl , obj in the other xml, also can not show in genesis ，same phenomenon as the picture**
@flyme45
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flyme45 commented Jan 12, 2025

who can do me a favor ? I'd appreciate it.

@flyme45
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flyme45 commented Jan 12, 2025

I skimmed #164, but I think not doing collision detection is a tricky solution, and I think there would be a better solution?

@flyme45
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flyme45 commented Jan 12, 2025

the "connect"sign in mujoco has the other replacement in genesis?

Likhithsai2580 added a commit to Likhithsai2580/Genesis that referenced this issue Jan 13, 2025
@Likhithsai2580
Fix custom XML file display in simulation environment
2b98880 
Fixes Genesis-Embodied-AI#548

Add handling for `contype` and `conaffinity` attributes in the simulation environment.

* Update `genesis/utils/mjcf.py` to parse `contype` and `conaffinity` attributes in the `parse_geom` function and set them to 0 if not specified.
* Update `genesis/engine/entities/rigid_entity/rigid_entity.py` to handle `contype` and `conaffinity` attributes in the `_load_MJCF` method and pass them to the `RigidGeom` constructor.
@Likhithsai2580 Likhithsai2580 linked a pull request Jan 13, 2025 that will close this issue
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@Hippozhibos
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Hippozhibos commented Jan 15, 2025 •
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我是设置了两套，一套用于可视化，把 contype 和 conaffinity 都设为0。另一套用于碰撞检测，contype, conaffinity都设为1。Genesis官方给的franka的xml文件也是用了类似设置，也可见这个issue里的中后段 #461 。虽然不知道为什么，但好像genesis里用于碰撞检测的几何体不能可视化，可视化的几何体不能用于碰撞检测。你可以先试试看。

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Fix custom XML file display in simulation environment Likhithsai2580/Genesis
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@Hippozhibos @flyme45