Convert the robot's URDF file to mujoco model

The way is to use Mujoco Self contained comiple

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grammar

./compile robot.urdf   mujoco_model.xml

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Possible problems

Report errors 1

Error: inertia must satisfy A + B >= C; use 'balanceinertia' to fix
Object name = inertial_link, id = 3

resolvent ：
other tag You can refer to the link http://www.mujoco.org/book/XMLreference.html#compiler.meshdir Is a must , If there are the following at compile time bug, You need to add balanceinertia.
stay urdf Add the following nodes to the file

  <mujoco>
        <compiler 
        meshdir="../meshes_mujoco/" 
        balanceinertia="true" 
        discardvisual="false" />
  </mujoco>

2 Report errors 2: A blank model file is generated ：

< mujoco model="MuJoCo Model" >
< compiler angle="radian" meshdir="../meshes/" / >
< size njmax="500" nconmax="100" / >
< worldbody / >
< /mujoco >

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reference

[1]https://zhuanlan.zhihu.com/p/99991106
[2] https://github.com/openai/mujoco-py/issues/484
[3] https://github.com/wangcongrobot/dual_ur5_husky_mujoco