Applying texture to flexcomp object #2013

sachinkundu · 2024-02-27T10:46:07Z

sachinkundu
Feb 27, 2024

How to apply texture to a flexcomp object?

I have a simple flexcomp object defined like

<mujoco model="cloth">
    <option timestep="0.01" integrator="implicitfast" viscosity="0.3" solver="CG" tolerance="1e-6"/>

    <extension>
        <plugin plugin="mujoco.elasticity.shell"/>
    </extension>

    <asset>
		<texture name="cloth_texture" type="2d" file="/home/sachin/source/thesis/assets/texture.png" />
		<material name="cloth_material" texture="cloth_texture" />
	</asset>

    <size nkey="10"/>
    <worldbody>
        <geom name="floor" type="plane" size="0 0 .1"/>
        <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
        <body>
            <body name="object" pos="0 0 0.9">
                <flexcomp type="grid" count="20 10 1" spacing=".0125 .0125 .0125" mass="0.5"
                          name="cloth" radius="0.006" material="cloth_material">
                    <!-- <contact condim="5" solref="0.05" friction="3"/> -->
                    <edge equality="true" damping="1.0"/>
                    <plugin plugin="mujoco.elasticity.shell">
                        <config key="poisson" value="0.4032740512363587"/>
                        <config key="thickness" value="0.0005"/>
                        <config key="young" value="85242.02369946481"/>
                    </plugin>
                </flexcomp>
                <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.045" name="bottom_site"/>
                <site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
                <site rgba="0 0 0 0" size="0.005" pos="0.03 0.03 0" name="horizontal_radius_site"/>
            </body>
        </body>
    </worldbody>
</mujoco>

No problem loading the xml in simulate but the texture is not applied. The texture png is attached.

The documentation for flexcomp says that Note that flexcomp does not generate texture coordinates automatically, except for 2D grids. which this definition is. The documentation for flex which the flexcomp should generate does say that Texture coordinates for each vertex. If omitted, texture mapping for this flex is disabled, even if a texture is specified in the material. which is what seems to be happening.

Is there any example somewhere how to apply a texture to a flexcomp object?

kevinzakka · 2024-08-30T19:04:37Z

kevinzakka
Aug 30, 2024
Collaborator

cc @quagla

0 replies

quagla · 2024-10-31T18:16:58Z

quagla
Oct 31, 2024
Collaborator

Hi, I have just found a bug related to this. I am pushing out a fix soon.

2 replies

harshaguda Nov 21, 2024

Hi @quagla, is the bug resolved? I could not find any issues related to this.

quagla Nov 21, 2024
Collaborator

Yes it was fixed in 831d988 I mentioned this discussion in the commit message but unfortunately discussions don't get closed automatically like issues do.

jsll · 2025-02-17T14:33:35Z

jsll
Feb 17, 2025

@quagla I still don't think this issue is solved. At least not for type=grid.

Below is a minimal example of two different object using the same texture: a box and a grid.

<mujoco model="Soft box">
  <include file="scene.xml"/>

  <option solver="CG" tolerance="1e-6"/>

  <size memory="30M"/>

  <worldbody>
    <body pos="0 0 1" name="body">
      <freejoint/>
      <geom size=".1" contype="0" conaffinity="0" group="4"/>
      <flexcomp name="box" type="box" count="7 7 2" spacing=".04 .04 .04"
                radius="0.01" dim="3" material="matsponge">
        <contact internal="false" selfcollide="none"/>
        <edge equality="true"/>
      </flexcomp>
    </body>
    <body pos="0.4 0 1" name="cloth">
      <freejoint/>
      <geom size=".1" contype="0" conaffinity="0" group="4"/>
      <flexcomp name="cloth" type="grid" count="7 7 1" spacing=".04 .04 .04"
                radius="0.01" dim="2" material="matsponge">
        <contact internal="false" selfcollide="none"/>
        <edge equality="true"/>
      </flexcomp>
    </body>
  </worldbody>
</mujoco>

As can clearly be seen in the figure below the box object get the texture applied while the gird object does not

2 replies

quagla Feb 19, 2025
Collaborator

Let me know if 6a86247 fixes it.

jsll Feb 20, 2025

@quagla As shown in the image below, 6a86247
fixes the issue. Thank you so much! 👍

Applying texture to flexcomp object #2013

Uh oh!

Uh oh!

sachinkundu Feb 27, 2024

How to apply texture to a flexcomp object?

Replies: 3 comments · 4 replies

Uh oh!

kevinzakka Aug 30, 2024 Collaborator

Uh oh!

quagla Oct 31, 2024 Collaborator

Uh oh!

harshaguda Nov 21, 2024

Uh oh!

Uh oh!

quagla Nov 21, 2024 Collaborator

Uh oh!

jsll Feb 17, 2025

Uh oh!

Uh oh!

quagla Feb 19, 2025 Collaborator

Uh oh!

jsll Feb 20, 2025

sachinkundu
Feb 27, 2024

Replies: 3 comments 4 replies

kevinzakka
Aug 30, 2024
Collaborator

quagla
Oct 31, 2024
Collaborator

quagla Nov 21, 2024
Collaborator

jsll
Feb 17, 2025

quagla Feb 19, 2025
Collaborator