mujoco
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google-deepmind
cannot see name of a joint
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>
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?
@yuvaltassa Here's the image. I cannot see "knee_joint" on the top right.
Please attach a loadable model and I will take a look. (I need the meshes. You can attach everything as a zip)
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?
I loaded this in MuJoCo 2.2.1 on an M1 Mac.
Can anyone else here replicate the OP's problem?
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?
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.
