Importing mjcf
robots4us opened this issue · comments
Hi! I am trying to import some robots from the mujoco menagrie. Eg. the shadow hand -> https://github.com/google-deepmind/mujoco_menagerie/blob/main/shadow_hand/right_hand.xml
However, I keep getting errors:
count_contact_points: unsupported geometry type combination 3 and 7
Unsupported geometry pair in collision handling
Can you recommend a quick fix? Thank you for this amazing simulator by the way. :)
Hi @robots4us,
These geometry type numbers refer to the GEO_... constants, so 3 and 7 refer to GEO_CYLINDER and GEO_PLANE, see model.py.
Since we don't have rigid-body contacts implemented for cylinders yet, I would recommend swapping them out for capsules in the MJCF file for now.
That worked. Thanks! 👍
On closer inspection, the XML is imported fine, but some joint axes and joint limits are incorrect. In particular, anything that is declared at the beginning of the XML and used later has not been imported correctly. I wrote a script to read the .XML and change the warp.sim.Model. Is there something I might be doing incorrectly or any other workarounds?