Failed to Compile Model

[dhruvthanki]

Hello Kevin! Great tool!

I have the whole model of the robot in the blender, which I exported as .obj with the corresponding .mtl.
Once I convert using the obj2mjcf using the following command:

obj2mjcf --obj-dir "/home/dhruv/Documents/Model" --save-mjcf --compile-model --verbose

I get following error:

Error compiling model: File or filename expected, got 'PosixPath'
INFO:root:Saved MJCF to /home/dhruv/Documents/Model/robot/robot.xml

and when I compile the model using mujoco, I get following error:

Traceback (most recent call last):
  File "/home/dhruv/Documents/Model/test.py", line 4, in <module>
    model = mj.MjModel.from_xml_path(xml_path)
ValueError: Error: faces have inconsistent orientation: robot-v3_6
Object name = robot-v3_6, id = 6, line = 26, column = -1

I am not sure what I am doing wrong. Would appreciate all the help!
Thank you!

[kevinzakka]

Hi @dhruvthanki, apologies for the late reply!

There are 2 separate issues here.

1. "Error compiling model: File or filename expected, got 'PosixPath'" -- could you attach a zip file with your model so I can reproduce locally?

2. ValueError: Error: faces have inconsistent orientation: robot-v3_6 -- this is something I can't control unfortunately. Sometimes, the output of trimesh splitting results in meshes that are a) flat in one dimension or b) have faces with inconsistent orientation. I think the MuJoCo devs recently pushed a fix that stops the compiler from complaining (see commit).

In any case, attaching a zip file would be very helpful so that I can improve obj2mjcf!

Cheers