Issue with STL placements in new Model #1983
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https://mujoco.readthedocs.io/en/latest/XMLreference.html#body-freejoint-align |
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Hi I am Researcher at Georgia Tech, trying to build a simulation of 3 link robots in Mujoco. I have been able to create .obj files from my stl meshes which I then converted to a simple xml file which is being used to run the simulation. However when I load the links 1 by 1 to build up the assembly I find that the free joint I am creating to define the body's movement with the floor is being placed at a location which is offset from the center of the link containing the joint. How do I have the joint be located at the center of the central link.
Find attached a snapshot of my simulation scene with the body frames for the floor and the central link with the joint.
Here's my XML file.
Thanks for your support.
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