Hi! I have a problem about two meshes behaviour (mesh extension file is .stl). Here is my xml file: <?xml version="1.0" encoding="utf-8"?> <mujoco> <compiler angle="radian" coordinate="local" meshdir="./stls" convexhull="false"></compiler> <option timestep="0.002" gravity="0 0 -9.81"> <flag warmstart="enable"></flag> </option> <asset> <mesh file="middle_link_1.stl" name="middle" scale="0.25 0.25 0.25"></mesh> </asset> <worldbody> <light directional="true" cutoff="4" exponent="20" diffuse="1 1 1" specular="0 0 0" pos=".9 .3 2.5" dir="-.9 -.3 -2.5 "/> <geom name="ground" type="plane" pos="0 0 0" size="10 20 0.001" rgba=" .25 .26 .25 1"/> <body pos="0 0 2"> <inertial diaginertia="0.009 0.0086 0.0041" mass="2.55" pos="0 0 0"></inertial> <geom type="mesh" mesh="middle"/> <body pos="0 0 8.7"> <inertial diaginertia="0.009 0.0086 0.0041" mass="2.5587" pos="0 0 0" quat="0 1 0 0"></inertial> <geom type="mesh" mesh="middle"/> <joint name="joint_1" type="hinge" axis="1 0 0" limited="true" range="-0.5 0.5" /> </body> </body> </worldbody> <actuator> <position joint='joint_1' name='motor' gear="1" forcelimited="true" forcerange="-10 10"/> </actuator> </mujoco> I attach mesh file also. My goal was to create a joint between two geoms and control it. I wanted it to rotate like elbow (in the same axis -> joint type is hinge). I placed them in the right way: small stick-link in the upper body is going through the hole in the bottom body. But when I put joint and actuator in it and try to control it, the upper body stick-link goes out from bottom body hole. The question is why that happened? And how can I change my code to avoid it? Thanks for helping.
The answer was given in different thread: http://www.mujoco.org/forum/index.php?threads/compactness-of-imported-mesh.4170/