Add support to mujoco composite object considering the geom element inside composite does not have "name" attribute #620
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…" attribute. Fix this bug by add judgement in objects.py and mjcf_utils.py. Add "extension" and "compiler" to MujocoXML class to support mujoco plugin and change default compiler attribute
kevin-thankyou-lin
requested changes
Jan 31, 2025
| element.set("rgba", array_to_string(OBJECT_COLLISION_COLOR)) | ||
| if element.get("material") is not None: | ||
| del element.attrib["material"] | ||
| if parent.tag!="composite": |
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Thanks @mengqlTHU! Could you please run pre-commit run --all-files to format?
| if parent is not None and parent.tag == "actuator": | ||
| return "actuators" | ||
| elif parent is not None and parent.tag == "composite": | ||
| return "composite_geoms" |
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and could you please add "composite_geoms" to the doc string above?
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What this does
Inside mujoco composite element, the geom element does not have "name" attribute. Fixed this bug by adding judgement in objects.py and mjcf_utils.py. Also, I added "extension" and "compiler" to MujocoXML class to support mujoco plugin and change default compiler attribute
Examples:
How it was tested
If anyone would like to test this pull request, take a loot at https://github.com/mengqlTHU/robosuite and run tests/test_cables/test_cables.py
