mujoco
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google-deepmind
SKYBOX broken since 3.2.0
Intro
Hi!
My setup
Python, OSX
What's happening? What did you expect?
Skybox with built-in gradients isn't working. I backtracked versions. 3.2.0 is when it broke down.
Steps for reproduction
- Load the model below.
- The skybox will be just white. It will ignore all the colors specified in the gradients
<mujoco model="example">
<compiler angle="radian" autolimits="true"/>
<default class="main">
<geom rgba="0.8 0.6 0.4 1"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0 0 0" rgb2="0.6 0.8 1" width="256" height="1536"/>
</asset>
<worldbody>
<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1"/>
<body pos="0 0 1">
<joint pos="0 0 0" type="ball"/>
<geom size="0.06 0.2" pos="0 0 -0.2" type="capsule"/>
<body pos="0 0 -0.4">
<joint pos="0 0 0" axis="0 1 0"/>
<joint pos="0 0 0" axis="1 0 0"/>
<geom size="0.04 0.15" pos="0.15 0 0" quat="0.707107 0 -0.707107 0" type="capsule"/>
<body pos="0.3 0 0">
<joint pos="0 0 0" axis="0 1 0"/>
<joint pos="0 0 0" axis="0 0 1"/>
<geom size="0.1 0.08 0.02" pos="0.1 0 0" type="ellipsoid"/>
<site name="end1" pos="0.2 0 0" size="0.01"/>
</body>
</body>
</body>
<body pos="0.3 0 0.1">
<joint type="free"/>
<geom size="0.07 0.1" type="cylinder"/>
<site name="end2" pos="0 0 0.1" size="0.01"/>
</body>
</worldbody>
<tendon>
<spatial range="0 0.6" width="0.005">
<site site="end1"/>
<site site="end2"/>
</spatial>
</tendon>
</mujoco>
Minimal model for reproduction
If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
minimal XML
<mujoco>
<worldbody>
<light pos="0 0 1"/>
<geom type="sphere" size="1" rgba="1 0 0 1"/>
</worldbody>
</mujoco>
Code required for reproduction
Confirmations
- [x] I searched the latest documentation thoroughly before posting.
- [x] I searched previous Issues and Discussions, I am certain this has not been raised before.
