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Error converting URDF file in Mojoco #1767

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Akanksha0401 opened this issue Jun 29, 2024 · 1 comment
Open

Error converting URDF file in Mojoco #1767

Akanksha0401 opened this issue Jun 29, 2024 · 1 comment
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question Request for help or information

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@Akanksha0401
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Akanksha0401 commented Jun 29, 2024 •
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Dear Colleagues,

I was having trouble in converting the URDF file of Single Leg Hopper in mujoco , I tried adding

<mujoco> 
    <compiler meshdir="C:\Users\Akanksha Mishra\Downloads\mujoco-3.1.6-windows-x86_64\model\meshes" balanceinertia="true"  discardvisual="false" />
   <worldbody>
   <light pos=".4 -.4 .3" dir="-2 2 -1.5" diffuse=".6 .6 .6"/>
   <light pos="-.2 -.4 .3" dir="1 2 -1.5" diffuse=".6 .6 .6"/>
   <geom type="plane" size=".5 .5 .01"/>
   <body name="ball" pos="0 0 0.05">
     <freejoint/>
     <geom size=".03"/>
   </body>
   <body name="hammer" pos="-.05 0 0.18">
     <joint axis="0 1 0"/>
     <geom type="capsule" size=".01" fromto="0 0 0 -.15 0 0"/>
     <geom type="box" size=".02 .02 .03" pos="-.15 0 0"/>
   </body>
 </worldbody>
   </mujoco>

but when it gets open in Mujoco, the object (robotic leg as given below) falls immediately.

My XML file looks somewhat like this-

<?xml version="1.0" ?>
<robot name="hopper">
<mujoco> 
    <compiler meshdir="C:\Users\Akanksha Mishra\Downloads\mujoco-3.1.6-windows-x86_64\model\meshes" balanceinertia="true"  discardvisual="false" />
   <worldbody>
   <light pos=".4 -.4 .3" dir="-2 2 -1.5" diffuse=".6 .6 .6"/>
   <light pos="-.2 -.4 .3" dir="1 2 -1.5" diffuse=".6 .6 .6"/>
   <geom type="plane" size=".5 .5 .01"/>
   <body name="ball" pos="0 0 0.05">
     <freejoint/>
     <geom size=".03"/>
   </body>
   <body name="hammer" pos="-.05 0 0.18">
     <joint axis="0 1 0"/>
     <geom type="capsule" size=".01" fromto="0 0 0 -.15 0 0"/>
     <geom type="box" size=".02 .02 .03" pos="-.15 0 0"/>
   </body>
 </worldbody>
   </mujoco>
 <link name="world"/>
 <joint name="fixed" type="fixed">

Please guide , what could be a possible solution.
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@Akanksha0401 Akanksha0401 added the question Request for help or information label Jun 29, 2024
@yuvaltassa
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There is not enough information in this issue for us to help you.
From a cursory look it seems like "hammer" is supposed to be a child of "ball"?

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@yuvaltassa @Akanksha0401