geom object spawn under the mesh object #22

takeru1205 · 2021-10-19T10:23:29Z

takeru1205
Oct 19, 2021

Hi there,

I'm trying to replace the table which is used in OpenAI gym FetchSlide task.
The table is created a stl file. So I loaded it as a mesh file.
I just changed geom object to mesh object. Although, the pack object is placed under the table.

Are there ways to solve that?

I changed xml file like below.
https://github.com/openai/gym/blob/3eb699228024f600e1e5e98218b15381f065abff/gym/envs/robotics/assets/fetch/slide.xml#L18-L20

<body name="table0" pos="0.75 0.2 0.">
    <geom name="table0" type="mesh" mesh="table0:table2_wide_108" material="table_mat" pos="0 0 0" fitscale="2" friction="0.1 0.005 0.0001"></geom>
</body>

my stl file: https://drive.google.com/file/d/1KCZFF5Rk-ZPT8H7xYQJHPX18LdH19EUd/view?usp=sharing

Thanks,

Answered by yuvaltassa

Nov 12, 2021

Hi,
Please read this section in the documentation to understand how MuJoCo handles mesh positioning.

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yuvaltassa · 2021-11-12T08:23:08Z

yuvaltassa
Nov 12, 2021
Maintainer

Hi,
Please read this section in the documentation to understand how MuJoCo handles mesh positioning.

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geom object spawn under the mesh object #22

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yuvaltassa Nov 12, 2021 Maintainer

takeru1205
Oct 19, 2021

yuvaltassa
Nov 12, 2021
Maintainer