MuJoCo XML parser does not understand Jinja-style templating (i.e. {% for ... %} or {{ ... }}), so you must replace that block with explicit, valid XML.
Browse files- assets/tray.xml +59 -4
assets/tray.xml
CHANGED
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@@ -10,12 +10,67 @@
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<!-- Dynamic objects (all with free joints) -->
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<!-- You can randomize and selectively activate them in Python -->
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<joint type="free" />
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</body>
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<!-- Pusher -->
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<body name="pusher" pos="0.3 -0.3 0.05">
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<!-- Dynamic objects (all with free joints) -->
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<!-- You can randomize and selectively activate them in Python -->
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<!-- Object 0 -->
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<body name="obj0" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.0 0.2 0.7 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 1 -->
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<body name="obj1" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.1 0.25 0.65 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 2 -->
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<body name="obj2" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.2 0.3 0.6 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 3 -->
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<body name="obj3" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.3 0.35 0.55 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 4 -->
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<body name="obj4" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.4 0.4 0.5 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 5 -->
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<body name="obj5" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.5 0.45 0.45 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 6 -->
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<body name="obj6" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.6 0.5 0.4 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 7 -->
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<body name="obj7" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.7 0.55 0.35 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 8 -->
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<body name="obj8" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.8 0.6 0.3 1.0"/>
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<joint type="free" />
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</body>
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<!-- Object 9 -->
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<body name="obj9" pos="0 0 0.1">
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<geom type="box" size="0.015 0.015 0.015" rgba="0.9 0.65 0.25 1.0"/>
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<joint type="free" />
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</body>
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<!-- Pusher -->
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<body name="pusher" pos="0.3 -0.3 0.05">
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