AttributeError: 'MjModel' object has no attribute 'flex_xvert0'

[XilunZhangRobo]

Hi Authors,
Thanks for the amazing work!
I am trying to reproducing your results by running train.py with default configs.
I am running into an error as follows:
Traceback (most recent call last):
File "/home/xilun/ENTER/envs/asid/lib/python3.9/multiprocessing/process.py", line 315, in _bootstrap
self.run()
File "/home/xilun/ENTER/envs/asid/lib/python3.9/multiprocessing/process.py", line 108, in run
self._target(*self._args, **self._kwargs)
File "/home/xilun/asid/env/wrappers/vec_wrapper.py", line 13, in _worker
env = _patch_env(env_fn_wrapper.var())
File "/home/xilun/asid/env/wrappers/asid_vec.py", line 22, in make_env
env = RobotEnv(**robot_cfg_dict, device_id=device_id)
File "/home/xilun/asid/env/robot/robot_env.py", line 150, in init
self._robot = MujocoManipulatorEnv(
File "/home/xilun/asid/env/robot/franka_mujoco.py", line 45, in init
super().init(
File "/home/xilun/asid/env/robot/franka_base.py", line 29, in init
self.launch_ik()
File "/home/xilun/asid/env/robot/franka_base.py", line 32, in launch_ik
self._ik_solver = RobotIKSolver(
File "/home/xilun/asid/env/robot/inverse_kinematics/robot_ik_solver.py", line 21, in init
self._physics = mjcf.Physics.from_mjcf_model(self._arm.mjcf_model)
File "/home/xilun/ENTER/envs/asid/lib/python3.9/site-packages/dm_control/mjcf/physics.py", line 461, in from_mjcf_model
return cls.from_xml_string(xml_string=xml_string, assets=assets)
File "/home/xilun/ENTER/envs/asid/lib/python3.9/site-packages/dm_control/mujoco/engine.py", line 443, in from_xml_string
return cls.from_model(model)
File "/home/xilun/ENTER/envs/asid/lib/python3.9/site-packages/dm_control/mujoco/engine.py", line 426, in from_model
return cls(data)
File "/home/xilun/ENTER/envs/asid/lib/python3.9/site-packages/dm_control/mujoco/engine.py", line 123, in init
self._reload_from_data(data)
File "/home/xilun/ENTER/envs/asid/lib/python3.9/site-packages/dm_control/mjcf/physics.py", line 496, in _reload_from_data
super()._reload_from_data(data)
File "/home/xilun/ENTER/envs/asid/lib/python3.9/site-packages/dm_control/mujoco/engine.py", line 407, in _reload_from_data
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
File "/home/xilun/ENTER/envs/asid/lib/python3.9/site-packages/dm_control/mujoco/index.py", line 628, in struct_indexer
attr = getattr(struct, field_name)
AttributeError: 'MjModel' object has no attribute 'flex_xvert0'

Do you have any insights on how to solve the issue? Thanks!

[franzele21]

I had the same problem (for something else [TD-MPC2]), and upgrading dm-control to the latest version (1.0.30 at the time I write this) fixed it.