'MjSim' object has no attribute 'model'

[Soha18]

Hi,

I'm trying to use domain_randomization_wrapper with lift environment, but it through this error:
modder.save_defaults()
File "/lib/python3.10/site-packages/robosuite/utils/mjmod.py", line 867, in save_defaults
self.textures = [Texture(self.model, i) for i in range(self.model.ntex)]
File "/lib/python3.10/site-packages/robosuite/utils/mjmod.py", line 60, in model
return self.sim.model
AttributeError: 'MjSim' object has no attribute 'model'

would you please advice to solve it.

Thanks

[zhuyifengzju]

Hi, can you give more context regarding your usage? Depending on the order of how you initialize the environment, the MjSim object might not have been created before querying the model attribute.

[Soha18]

Hi,
Thanks for your response..
this is the part of code when the randomization_wrapper is used:
controller_config = load_controller_config(default_controller="OSC_POSE")
env = suite.make(
env_name="Lift",
robots="Panda",
reward_shaping=True,
has_renderer=True,
render_camera = 'robot0_eye_in_hand',
has_offscreen_renderer=True,
controller_configs=controller_config,
use_camera_obs=True,
horizon = 100,
use_object_obs= True,
camera_names = 'robot0_eye_in_hand',
camera_heights = 84,
camera_widths = 84
)
env = MultiModalEnv(env)
env = DomainRandomizationWrapper(env)
obs = env.reset()

here MultiModalEnv wrapper is a custom wrapper to initialize environment with dict observations, even without applying this wrapper I got the same error:

Traceback (most recent call last):
File "/multimodal_env_test.py", line 173, in
main()
File "/multimodal_env_test.py", line 150, in main
obs = env.reset()
File "/domain_randomization.py", line 205, in reset
self.save_default_domain()
File "/domain_randomization.py", line 261, in save_default_domain
modder.save_defaults()
File "/lib/python3.9/site-packages/robosuite/utils/mjmod.py", line 866, in save_defaults
self.textures = [Texture(self.model, i) for i in range(self.model.ntex)]
File "/lib/python3.9/site-packages/robosuite/utils/mjmod.py", line 59, in model
return self.sim.model
AttributeError: 'MjSim' object has no attribute 'model'

Thanks in advance

[zhuyifengzju]

I see that you have your own implementation of MultiModalEnv. Have you tried not using it?

[Soha18]

yes I mentioned that ,, even without applying my own wrapper the same error comes out..

[babbatem]

I'm experiencing this error as well, with mujoco==2.3.7 and robosuite==1.4.0 from pip or source. The following script reproduces the error above:

import numpy as np
import robosuite as suite
from robosuite.wrappers import DomainRandomizationWrapper

env = suite.make(
    env_name="Door", # try with other tasks like "Stack" and "Door"
    robots="Panda",  # try with other robots like "Sawyer" and "Jaco"
    has_renderer=True,
    has_offscreen_renderer=False,
    use_camera_obs=False,
)
env = DomainRandomizationWrapper(env)

env.reset()

Traceback (most recent call last):
  File "/Users/abba/projects/rma/test_free_space.py", line 16, in <module>
    env.reset()
  File "/Users/abba/miniconda3/envs/debugdomainrandom/lib/python3.11/site-packages/robosuite/wrappers/domain_randomization_wrapper.py", line 202, in reset
    self.save_default_domain()
  File "/Users/abba/miniconda3/envs/debugdomainrandom/lib/python3.11/site-packages/robosuite/wrappers/domain_randomization_wrapper.py", line 258, in save_default_domain
    modder.save_defaults()
  File "/Users/abba/miniconda3/envs/debugdomainrandom/lib/python3.11/site-packages/robosuite/utils/mjmod.py", line 866, in save_defaults
    self.textures = [Texture(self.model, i) for i in range(self.model.ntex)]
                                                           ^^^^^^^^^^
  File "/Users/abba/miniconda3/envs/debugdomainrandom/lib/python3.11/site-packages/robosuite/utils/mjmod.py", line 59, in model
    return self.sim.model
           ^^^^^^^^^^^^^^
AttributeError: 'MjSim' object has no attribute 'model'

[babbatem]

Specifying hard_reset=False when creating the environment fixes the issue.

(conversely, changing hard_reset to True in demo_domain_randomization.py yields the error)

[Soha18]

Hi,
Yes, initializing environment with hard_reset =False solved the problem.

Many thanks , you almost saved my life...