ARISE-Initiative
unrecognized plugin 'mujoco.sensor.touch_grid'
System Info
robosuite version: 1.5.1
OS: Ubuntu 24.04.2 LTS
When I added touch_grid sensors on robotiq_gripper_85.xml mujoco able to open it without problem but when I tried to simulate with robosuite it crashes.
Information
the error is
"Traceback (most recent call last):
File "/media/gokce-guven/Phoebe10TB/cobot/robosuite/test.py", line 29, in
Reproduction
the code is "import os import mujoco from robosuite.models import MujocoWorldBase from robosuite.models.arenas import TableArena from robosuite.models.robots import Mycobot from robosuite.models.grippers import gripper_factory from robosuite.models.objects import BallObject from mujoco.viewer import launch
world = MujocoWorldBase()
robot = Mycobot() gripper = gripper_factory('Robotiq85Gripper') robot.add_gripper(gripper) robot.set_base_xpos([0.0, 0, 0]) world.merge(robot)
arena = TableArena() arena.set_origin([0.8, 0, 0]) world.merge(arena)
sphere = BallObject(name="sphere", size=[0.04], rgba=[0,0.5,0.5,1]).get_obj() sphere.set('pos', '1.0 0 1.0') world.worldbody.append(sphere)
model = world.get_model(mode="mujoco") data = mujoco.MjData(model)
viewer = launch(model, data) while data.time < 1: mujoco.mj_step(model, data)"
Expected behavior
No response
Are you able to load the new xml directly in mujoco?
i.e. try python -m mujoco.viewer --mjcf=<new_xml> and see if that works?
Are you able to load the new xml directly in mujoco?
i.e. try
python -m mujoco.viewer --mjcf=<new_xml>and see if that works?
Yes the model can be load directly with the command python -m mujoco.viewer --mjcf=<new_xml> but not with robosuite. How can I solve this problem?
Thanks in advance
Are you able to load the new xml directly in mujoco?
i.e. try
python -m mujoco.viewer --mjcf=<new_xml>and see if that works?
do you have any suggestion for this error? How can I fix this?
Thanks in advance
Thanks for your patience - I suspect the issue is that robosuite isn’t handling plugins correctly (maybe these are being discarded). Maybe look into the (base) env classes, I can take a look later.
On Wed, 28 May 2025 at 07:53, Gokce @.***> wrote:
gokceay left a comment (ARISE-Initiative/robosuite#694) https://github.com/ARISE-Initiative/robosuite/issues/694#issuecomment-2916644700
Are you able to load the new xml directly in mujoco?
i.e. try python -m mujoco.viewer --mjcf=<new_xml> and see if that works?
do you have any suggestion for this error? How can I fix this?
Thanks in advance
— Reply to this email directly, view it on GitHub https://github.com/ARISE-Initiative/robosuite/issues/694#issuecomment-2916644700, or unsubscribe https://github.com/notifications/unsubscribe-auth/AH6MY6O5V4KYOSNWMBCMEUL3AXEWBAVCNFSM6AAAAAB4ZOPJSSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDSMJWGY2DINZQGA . You are receiving this because you were assigned.Message ID: @.***>
Quick follow up on this, can you export the scene xml and see if the plugin is added? Afaik Robosuite at the moment does not merge plugins when merging all the models to create the scene. This is however a really nice feature we should definitely add.
Quick follow up on this, can you export the scene xml and see if the plugin is added? Afaik Robosuite at the moment does not merge plugins when merging all the models to create the scene. This is however a really nice feature we should definitely add.
What do you mean by export the scene xml? For the plugin I added touch grid sensor plugin at the top of the gripper file like this:
<mujoco model="robotiq_gripper_85_model"> <compiler/> <extension> <plugin plugin="mujoco.sensor.touch_grid"/> </extension> <asset>
and added the touch grid at the end of the file
<plugin name="left_touch_grid" plugin="mujoco.sensor.touch_grid" objtype="site" objname="left_finger_ft_mount" > <config key="size" value="4 4"/> <config key="fov" value="90 60"/> <config key="gamma" value="0"/> <config key="nchannel" value="1"/> </plugin> <plugin name="right_touch_grid" plugin="mujoco.sensor.touch_grid" objtype="site" objname="right_finger_ft_mount" > <config key="size" value="4 4"/> <config key="fov" value="90 60"/> <config key="gamma" value="0"/> <config key="nchannel" value="1"/> </plugin >
When creating a robosuite environment, we first have to merge all the different models and their respective mjcf files together. When merging, we look for specific tags (see here) and merge accordingly. However, at the moment, we do not merge the plugin tag from mujoco. As a result, even if your gripper has the plugin tag added for this, it won't get added to the final scene.
Should I change /robosuite/models/base.py file and ? By the scene xml do you mean arena xml files for the chosen environment? By the way thanks a lot for your help!
By scene xml, I mean the "final" xml loaded when you say mujoco.load_from_xml (or something similar, I forgot exactly what the function name is). We can maybe make a feature request for this.
By scene xml, I mean the "final" xml loaded when you say mujoco.load_from_xml (or something similar, I forgot exactly what the function name is). We can maybe make a feature request for this.
I opened a feature request https://github.com/ARISE-Initiative/robosuite/issues/715
By scene xml, I mean the "final" xml loaded when you say mujoco.load_from_xml (or something similar, I forgot exactly what the function name is). We can maybe make a feature request for this.
I would like to ask another question. I have custom Mycobot robot env in robosuite and I am training it with robomimic ACT model. I would like to train with tactile information. Do you have any examples or tutorials for this?
Thanks in advance