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[mjx] Loading humanoid.xml causes no warning or errors even though mjx does not support it's fixed tendons #1149

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Kallinteris-Andreas opened this issue Oct 31, 2023 · 2 comments
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[mjx] Loading humanoid.xml causes no warning or errors even though mjx does not support it's fixed tendons #1149

Kallinteris-Andreas opened this issue Oct 31, 2023 · 2 comments
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@btaba
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@Kallinteris-Andreas
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Kallinteris-Andreas commented Oct 31, 2023 •
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Hey, I am a Co-Maintainer of Gymnasium/MuJoCo & Gymnasium-Robotics and I was looking at the documentation of mjx https://mujoco.readthedocs.io/en/3.0.0/mjx.html#mjx-the-sharp-bits, where you compare the runtime performance of mjx and mujoco using the gymnasium/humanoid.xml model,
how did you compare them, considering that mjx does not support fully loading the gymnasium/humanoid.xml model, because it has fixed tendons, effectively comparing the humanoid model with mujoco and a tendonless-humanoid with mjx.

In general, the correct behavior would be to generate an error when trying to instantiate humanoid.xml with mjx because it can not load its tendons (as it does with other parts of the model that can not be load with mjx such as condon="1").

The model:

<mujoco model="humanoid">
    <compiler angle="degree" inertiafromgeom="true"/>
    <default>
        <joint armature="1" damping="1" limited="true"/>
	<geom conaffinity="1" condim="3" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/> <!-- i have changed condim to 3 (from 1)-->
        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
    </default>
    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
        <!-- <flags solverstat="enable" energy="enable"/>-->
    </option>
    <size nkey="5" nuser_geom="1"/>
    <visual>
        <map fogend="5" fogstart="3"/>
    </visual>
    <asset>
        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
    </asset>
    <worldbody>
        <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
        <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
        <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
        <body name="torso" pos="0 0 1.4">
            <camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1"/>
            <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
                    <body name="right_thigh" pos="0 -0.1 -0.04">
                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
                        <joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
                        <body name="right_shin" pos="0 0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
                            <body name="right_foot" pos="0 0 -0.45">
                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
                            </body>
                        </body>
                    </body>
                    <body name="left_thigh" pos="0 0.1 -0.04">
                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
                        <body name="left_shin" pos="0 -0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
                            <body name="left_foot" pos="0 0 -0.45">
                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="right_upper_arm" pos="0 -0.17 0.06">
                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
                <body name="right_lower_arm" pos=".18 -.18 -.18">
                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
                    <camera pos="0 0 0"/>
                </body>
            </body>
            <body name="left_upper_arm" pos="0 0.17 0.06">
                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
                <body name="left_lower_arm" pos=".18 .18 -.18">
                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
                </body>
            </body>
        </body>
    </worldbody>
    <tendon>
        <fixed name="left_hipknee">
            <joint coef="-1" joint="left_hip_y"/>
            <joint coef="1" joint="left_knee"/>
        </fixed>
        <fixed name="right_hipknee">
            <joint coef="-1" joint="right_hip_y"/>
            <joint coef="1" joint="right_knee"/>
        </fixed>
    </tendon>

    <actuator>
        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
        <motor gear="200" joint="right_knee" name="right_knee"/>
        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
        <motor gear="200" joint="left_knee" name="left_knee"/>
        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
        <motor gear="25" joint="right_elbow" name="right_elbow"/>
        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
        <motor gear="25" joint="left_elbow" name="left_elbow"/>
    </actuator>
</mujoco>

simple script

import mujoco
from mujoco import mjx

model = mujoco.MjModel.from_xml_path("./humanoid.xml")
data = mujoco.MjData(model)
mjx_model = mjx.device_put(model)
mjx_data = mjx.make_data(model)

assert model.ntendon == 2
assert mjx_model.ntendon == 2 ## obsiously fails

System info

$ uname
Arch
$ pip list | grep mujoco
mujoco                        3.0.0
mujoco-mjx                    3.0.0
@Kallinteris-Andreas Kallinteris-Andreas added the bug Something isn't working label Oct 31, 2023
@Kallinteris-Andreas Kallinteris-Andreas changed the title [mjx] Loading humanoid.xml causes no warning or errors even though mjx is not supposed to support fixed tendons [mjx] Loading humanoid.xml causes no warning or errors even though mjx does not support it's fixed tendons Oct 31, 2023
@erikfrey
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Yes, we should guard against this! Thanks for the bug report. Adding tendons to MJX is a priority for us, but in the meantime we should error. Will fix.

@btaba
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btaba commented Oct 31, 2023

Hi @Kallinteris-Andreas , the tendons were removed in the humanoid XML here: https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/humanoid

Will fix the lack of error message

@Kallinteris-Andreas Kallinteris-Andreas mentioned this issue Dec 10, 2023
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@erikfrey @btaba @Kallinteris-Andreas