Applying texture to flexcomp object #2013

sachinkundu · 2024-02-27T10:46:07Z

sachinkundu
Feb 27, 2024

How to apply texture to a flexcomp object?

I have a simple flexcomp object defined like

<mujoco model="cloth">
    <option timestep="0.01" integrator="implicitfast" viscosity="0.3" solver="CG" tolerance="1e-6"/>

    <extension>
        <plugin plugin="mujoco.elasticity.shell"/>
    </extension>

    <asset>
		<texture name="cloth_texture" type="2d" file="/home/sachin/source/thesis/assets/texture.png" />
		<material name="cloth_material" texture="cloth_texture" />
	</asset>

    <size nkey="10"/>
    <worldbody>
        <geom name="floor" type="plane" size="0 0 .1"/>
        <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
        <body>
            <body name="object" pos="0 0 0.9">
                <flexcomp type="grid" count="20 10 1" spacing=".0125 .0125 .0125" mass="0.5"
                          name="cloth" radius="0.006" material="cloth_material">
                    <!-- <contact condim="5" solref="0.05" friction="3"/> -->
                    <edge equality="true" damping="1.0"/>
                    <plugin plugin="mujoco.elasticity.shell">
                        <config key="poisson" value="0.4032740512363587"/>
                        <config key="thickness" value="0.0005"/>
                        <config key="young" value="85242.02369946481"/>
                    </plugin>
                </flexcomp>
                <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.045" name="bottom_site"/>
                <site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
                <site rgba="0 0 0 0" size="0.005" pos="0.03 0.03 0" name="horizontal_radius_site"/>
            </body>
        </body>
    </worldbody>
</mujoco>

No problem loading the xml in simulate but the texture is not applied. The texture png is attached.

The documentation for flexcomp says that Note that flexcomp does not generate texture coordinates automatically, except for 2D grids. which this definition is. The documentation for flex which the flexcomp should generate does say that Texture coordinates for each vertex. If omitted, texture mapping for this flex is disabled, even if a texture is specified in the material. which is what seems to be happening.

Is there any example somewhere how to apply a texture to a flexcomp object?

kevinzakka · 2024-08-30T19:04:37Z

kevinzakka
Aug 30, 2024
Collaborator

cc @quagla

0 replies

quagla · 2024-10-31T18:16:58Z

quagla
Oct 31, 2024
Collaborator

Hi, I have just found a bug related to this. I am pushing out a fix soon.

2 replies

harshaguda Nov 21, 2024

Hi @quagla, is the bug resolved? I could not find any issues related to this.

quagla Nov 21, 2024
Collaborator

Yes it was fixed in 831d988 I mentioned this discussion in the commit message but unfortunately discussions don't get closed automatically like issues do.

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Applying texture to flexcomp object #2013

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Applying texture to flexcomp object #2013

sachinkundu Feb 27, 2024

How to apply texture to a flexcomp object?

Replies: 2 comments · 2 replies

kevinzakka Aug 30, 2024 Collaborator

quagla Oct 31, 2024 Collaborator

harshaguda Nov 21, 2024

quagla Nov 21, 2024 Collaborator

sachinkundu
Feb 27, 2024

Replies: 2 comments 2 replies

kevinzakka
Aug 30, 2024
Collaborator

quagla
Oct 31, 2024
Collaborator

quagla Nov 21, 2024
Collaborator