I'm studying xml for mujoco, and I made my own xml file using stl.
<asset>
<mesh name="bottom_swingup" file="~/WorkSpace/MujocoProject/meshes/bottom_swingup.stl"/>
</asset>
<world_body>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1" castshadow="false"/>
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
<body name="base" pos="0 0 0">
<camera mode="fixed" name="robotview" pos="1.0 0 0.4"/>
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
<geom type="mesh" mesh="base_link" />
<geom type="mesh" mesh="bottom_swingup" name="base_collision" />
</body>
</world_body>
I tried to look at it using meshlab on linux, but I couldn't.
I could open a completed xml file from robosuite for example.
And when I don't use stl files in xml, there were no problem at opening it.
Is there any problem of my code in importing stl files?
I don't know mujuco at all, but I do know XML and I can tell you that the code you posted isn't "well-formed" XML because it doesn't have a single root element. A file with two root elements ( asset
and world_body
) is not strictly speaking an XML document; it could be called an "XML fragment" , but that may not be what mujoco is expecting.
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