Need help with compiler error. #2782

shubhamt2897 · 2025-08-02T19:17:04Z

shubhamt2897
Aug 2, 2025

Intro

Hi!

I am a graduate student , I use MuJoCo for learning simulation and implementation in RL.

My setup

Environment:
OS: Windows with WSL2 (Ubuntu 22.04)

MuJoCo Version: 3.3.2

Python Version: 3.11 (via Conda)

My question

Whenever i open the scene.xml from my terminal command the scene gives me XML Error: Schema violation: unrecognized element 'compiler', line 0, I am using franka panda robots twice in same scene , that's why I defined the actuator and chain .xml the way they are in the xml file otherwise I would get a different error . The project is created in VS code with UTF-8 encoder

Minimal model and/or code that explain my question

<body name="table" pos="0.5 0 0.4">
    <geom name="table_geom" type="box" size="0.7 0.7 0.4" rgba="0.8 0.8 0.8 1"/>
</body>

<body name="platform1" pos="0.5 0 0.82">
    <geom type="box" size="0.15 0.15 0.02" material="platform_mat"/>
</body>

<body name="platform2" pos="0.5 0.6 0.82">
    <geom type="box" size="0.15 0.15 0.02" material="platform_mat"/>
</body>

<body name="object" pos="0.5 -0.4 0.85">
  <joint type="free" name="object_joint"/>
  <geom name="object_geom" type="box" size="0.025 0.025 0.025" material="cube_mat" condim="4" density="500"/>
</body>

<body name="robot1" pos="0 0 0.8" quat="0 0 1 0">
  <include file="assets/franka_assets/chain.xml"/>
  <include file="assets/franka_assets/actuator.xml"/>
</body>

<body name="robot2" pos="1.0 0 0.8" quat="0 0 0 0">
  <include file="assets/franka_assets/robot2_chain.xml"/>
  <include file="assets/franka_assets/robot2_actuator.xml"/>
</body>

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shubhamt2897 Aug 2, 2025

Intro

My setup

My question

Minimal model and/or code that explain my question

Confirmations

Replies: 0 comments

shubhamt2897
Aug 2, 2025