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unitreerobotics / unitree_mujoco

BSD 3-Clause "New" or "Revised" License
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Error in XML files #1

Closed BolunDai0216 closed 1 year ago

BolunDai0216 commented 2 years ago

Hi,

I think there is an error in the XML files.

In the sensors for framepos and framequat, the objtype is all set to site. I think it should be "site" instead, i.e., changing from

<framepos name="Body_Pos" objtype=site objname="imu"/>
<framequat name="Body_Quat" objtype=site objname="imu"/>

to

<framepos name="Body_Pos" objtype="site" objname="imu"/>
<framequat name="Body_Quat" objtype="site" objname="imu"/>

After this change, I was able to start the MuJoCo simulation in MuJoCo 2.13. Otherwise, it would give me 

Error=XML_ERROR_PARSING_ATTRIBUTE ErrorID=7 (0x7) Line number=183: XMLElement name=framepos

I am not sure this is the case for other MuJoCo versions.

TrivasZhang commented 2 years ago

Thanks, I will try it.