Unable to load xml file with replicate #2194

Anubhav0602 · 2024-10-30T11:44:43Z

Anubhav0602
Oct 30, 2024

Intro

Hi!

I am a student , I use MuJoCo for my research.

My setup

i m using mujoco 3.2.4. python =3.12.2, ubuntu =20

My question

XML Error: Schema violation: unrcognized element
Element 'replicate',line 12

Getting above error for the XML file-->

<body pos="-.1 0 .04" euler="20 10 0">
  <freejoint/>
  <geom type="cylinder" size="0.03 0.002" rgba=".8 0 0 1"/>
  <replicate count="20" euler="0 0 18">
    <frame pos="-.025 0 .03" euler="0 15 0">
      <replicate count="6" euler="0 15 0">
        <geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba=".8 0 0 1"/>
      </replicate>
    </frame>
  </replicate>
</body>

<body pos="0 0 .02" euler="20 20 0">
  <freejoint/>
  <geom type="cylinder" size="0.01 0.0015" rgba="0 .8 0 1"/>
  <replicate count="20" euler="0 0 18">
    <frame pos="-.005 0 .03" euler="0 15 0">
      <replicate count="6" euler="0 15 0">
        <geom type="box" size=".0044 .006 .0015" pos="0 0 -.03" rgba="0 .8 0 1"/>
      </replicate>
    </frame>
  </replicate>
</body>

<body pos=".09 0 .04" euler="30 30 0">
  <freejoint/>
  <geom type="cylinder" size="0.03 0.002" rgba="0 0 .8 1"/>
  <replicate count="20" euler="0 0 18">
    <frame pos="-.025 0 .03" euler="0 15 0">
      <replicate count="4" euler="0 15 0">
        <geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba="0 0 .8 1"/>
      </replicate>
    </frame>
  </replicate>
</body>

what could be the reason for this? How can i resolve this.

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

I searched the latest documentation thoroughly before posting.
I searched previous Issues and Discussions, I am certain this has not been raised before.

yuvaltassa · 2024-10-30T11:49:54Z

yuvaltassa
Oct 30, 2024
Maintainer

This is not reproducible, your model is invalid (this is just a snippet from a model, no <mujoco> etc). Please post a valid model

0 replies

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Unable to load xml file with replicate #2194

Anubhav0602 Oct 30, 2024

Intro

My setup

My question

Minimal model and/or code that explain my question

Confirmations

Replies: 1 comment

yuvaltassa Oct 30, 2024 Maintainer

Anubhav0602
Oct 30, 2024

yuvaltassa
Oct 30, 2024
Maintainer