[mujoco parser] Truncate rgba values to [0, 1] #22445
Closed
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The franka_kitchen model has rgba values outside of the normal range https://github.com/Farama-Foundation/Gymnasium-Robotics/blob/2d1c1f95ecd9179849248a5bced308d43775e732/gymnasium_robotics/envs/assets/kitchen_franka/kitchen_assets/item_assets/oven_asset.xml#L23 . MuJoCo lets them throught, but Drake throws a Runtime error in Rgba. This PR truncates the range so that the parser is more forgiving.
RussTedrake
added
priority: medium
release notes: none
-- https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material The model file is broken. Why not PR a fix to the model file so that it doesn't use values outside of what the spec says? The fact that the MuJoCo parser accepts this a bug in their parser, not in ours. |
7 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The franka_kitchen model has rgba values outside of the normal range https://github.com/Farama-Foundation/Gymnasium-Robotics/blob/2d1c1f95ecd9179849248a5bced308d43775e732/gymnasium_robotics/envs/assets/kitchen_franka/kitchen_assets/item_assets/oven_asset.xml#L23 . MuJoCo lets them throught, but Drake throws a Runtime error in Rgba.
This PR truncates the range so that the parser is more forgiving.
+@SeanCurtis-TRI for feature review please.
Related to https://github.shared-services.aws.tri.global/robotics/anzu/issues/13763 .
This change is