mj_loadXML error: b"Error: could not open STL file

[SangbaekYoo]

I try to run cathsim.(just run python3 tests/test_env.py) There are some issues.
First, scene.xml file (in cathsim/cathsim_env/envs/) includes catheter.xml, but there is cathter_template.xml in this directory, I don't understand why this file names are different.

Second, there are no walls.stl file. scene directory should be in meshes directory but there are only phantom_1, phantom_2 and slave. How can I solve this problem?

[tudorjnu]

Hello @SangbaekYoo!

Indeed, I tried to re-run it and it seemed to throw an error. I have investigated it and now it should be fixed.

Let me know if it is fixed for you or if there is any other issue.

[SangbaekYoo]

Thank you for response my question. Now I can run basic example. I also want to render simulation with obs_type 'image', but there is some error. Is there need anothor modification in code? My current code is below.

import cathsim_env
import gym

env = gym.make('cathsim_env/CathSim-v0',
scene=1, # 1 or 2 for Type-I Aortic Arch and Type-II Aortic Arch
target="bca", # "bca" or "lcca"
obs_type="image", # image or internal
image_size=128,
delta=0.008, # the distance threshold between catheter head and target
success_reward=10.0, # the reward for reaching the target
compute_force=False, # whether to compute the force
dense_reward=True, # whether to use a dense reward or a sparse reward,
)

obs = env.reset()
for _ in range(2000):
action = env.action_space.sample()
obs, reward, done, info = env.step(action)
env.render()

[tudorjnu]

Ahh, this is a more complicated issue that has to do with glfw (see issue 2989 on openai/gym).

However, as a wrap-around, you can try to the cv2 images by rendering the single frames.

[tudorjnu]

I am closing this issue. Please let me know if there are more issues.