google-deepmind / google-deepmind/mujoco

`.skn` file not working with replicated bodies (dmcontrol rodent model)

Open
#1,683 1 comment 1 reaction 0 assignees View on GitHub
maybe bug question
Dominant language
C++
Stars
15.2k
Forks
1.8k
Avg merge
10d 16h
Merged PRs (30d)
25

Description

Hi, I'm trying to use the new `replicate` tag with the dmcontrol [rodent](https://github.com/google-deepmind/dm_control/blob/main/dm_control/locomotion/walkers/assets/rodent.xml) model, but I run into this error with loading it into Mujoco:
```
ValueError Traceback (most recent call last)
Cell In[16], [line 1](vscode-notebook-cell:?execution_count=16&line=1)
----> [1](vscode-notebook-cell:?execution_count=16&line=1) model = mujoco.MjModel.from_xml_path(path)

ValueError: Error: unknown body 'torso' in skin
Element name 'skin', id 0, line 15
```
I believe this is caused by the renaming of bodies when replicating, making the skin file refer to nonexistent bodies. Is there another way to apply the same `.skn` file to replicated bodies?
Thanks!

Contributor guide

Open the contributing guide

Assessment

This issue has not been assessed yet.

Get new issues in your inbox

A short digest of beginner-friendly GitHub issues.