When I upload my xml file in Mujoco , then the joints are not attached to each other. #2814

chishti055nsu · 2025-08-24T15:38:33Z

chishti055nsu
Aug 24, 2025

Intro

Hi!

I am an undergrad student NSU , I wanted to use MuJoCo for my project.

My setup

MACBOOK M1 PRO 2021

My question

As I am loading my xml file in Mujoco , then the joints fall off . I do not get a whole structure from it . I have uploaded my ss .

Minimal model and/or code that explain my question

  <geom type="mesh" class="visual" pos="-0.178936 -0.0106613 0.0920559" quat="0.70338 0.668395 0.234214 0.0604014" mesh="part_2" material="part_2_material"/>
  <geom type="mesh" class="collision" pos="-0.178936 -0.0106613 0.0920559" quat="0.70338 0.668395 0.234214 0.0604014" mesh="part_2" material="part_2_material"/>
  <geom type="mesh" class="visual" pos="-0.191716 0.0323025 0.115445" quat="0.0604014 -0.234214 0.668395 -0.70338" mesh="h25t_spline" material="h25t_spline_material"/>
  <geom type="mesh" class="collision" pos="-0.191716 0.0323025 0.115445" quat="0.0604014 -0.234214 0.668395 -0.70338" mesh="h25t_spline" material="h25t_spline_material"/>
  <geom type="mesh" class="visual" pos="-0.178854 -0.0108439 0.0920552" quat="0.70338 0.668395 0.234214 0.0604014" mesh="part_3" material="part_3_material"/>
  <geom type="mesh" class="collision" pos="-0.178854 -0.0108439 0.0920552" quat="0.70338 0.668395 0.234214 0.0604014" mesh="part_3" material="part_3_material"/>
  <geom type="mesh" class="visual" pos="-0.178936 -0.0106613 0.0920559" quat="0.70338 0.668395 0.234214 0.0604014" mesh="part_1" material="part_1_material"/>
  <geom type="mesh" class="collision" pos="-0.178936 -0.0106613 0.0920559" quat="0.70338 0.668395 0.234214 0.0604014" mesh="part_1" material="part_1_material"/>
  <geom type="mesh" class="visual" pos="-0.178203 -0.00380066 0.105635" quat="0.454654 0.638241 -0.307012 0.540075" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
  <geom type="mesh" class="collision" pos="-0.178203 -0.00380066 0.105635" quat="0.454654 0.638241 -0.307012 0.540075" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
  <geom type="mesh" class="visual" pos="-0.213127 0.00202477 0.031184" quat="0.0694143 -0.53858 -0.833195 0.104399" mesh="ds3235" material="ds3235_material"/>
  <geom type="mesh" class="collision" pos="-0.213127 0.00202477 0.031184" quat="0.0694143 -0.53858 -0.833195 0.104399" mesh="ds3235" material="ds3235_material"/>
  
  <body name="part_2" pos="0 0 0.1" quat="1 0 0 0">
    <joint name="joint1" type="hinge" pos="0 0 0" axis="0 0 1"/>
    <inertial pos="-0.179845 0.0141047 0.166494" mass="1.6084" fullinertia="0.00378033 0.0048472 0.00239797 -0.000269964 -0.000578013 4.00236e-05"/>

    <geom type="mesh" class="visual" pos="-0.191116 0.032573 0.115251" quat="0.0362418 -0.257001 0.659969 -0.705037" mesh="ds3235" material="ds3235_material"/>
    <geom type="mesh" class="collision" pos="-0.191116 0.032573 0.115251" quat="0.0362418 -0.257001 0.659969 -0.705037" mesh="ds3235" material="ds3235_material"/>
    <geom type="mesh" class="visual" pos="-0.222601 -0.0274436 0.0946271" quat="0.829125 -0.132913 0.0878453 -0.535882" mesh="part_1__2" material="part_1__2_material"/>
    <geom type="mesh" class="collision" pos="-0.222601 -0.0274436 0.0946271" quat="0.829125 -0.132913 0.0878453 -0.535882" mesh="part_1__2" material="part_1__2_material"/>
    <geom type="mesh" class="visual" pos="-0.222601 -0.0274436 0.0946271" quat="0.829125 -0.132913 0.0878453 -0.535882" mesh="part_2__2" material="part_2__2_material"/>
    <geom type="mesh" class="collision" pos="-0.222601 -0.0274436 0.0946271" quat="0.829125 -0.132913 0.0878453 -0.535882" mesh="part_2__2" material="part_2__2_material"/>

    <body name="part_3_2" pos="0 0 0.2" quat="1 0 0 0">
      <joint name="joint2" type="hinge" pos="0 0 0" axis="0 1 0"/>
      <inertial pos="-0.231701 -0.00754258 -0.104854" mass="3.08783" fullinertia="0.0131041 0.0136855 0.00304106 1.70928e-05 -0.00198547 -0.00178884"/>

      <geom type="mesh" class="visual" pos="-0.373751 -0.00426184 -0.302245" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_4" material="part_4_material"/>
      <geom type="mesh" class="collision" pos="-0.373751 -0.00426184 -0.302245" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_4" material="part_4_material"/>
      <geom type="mesh" class="visual" pos="-0.379686 -0.00503168 -0.308803" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_3__2" material="part_3__2_material"/>
      <geom type="mesh" class="collision" pos="-0.379686 -0.00503168 -0.308803" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_3__2" material="part_3__2_material"/>
      <geom type="mesh" class="visual" pos="-0.378066 -0.00432737 -0.301926" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_1__3" material="part_1__3_material"/>
      <geom type="mesh" class="collision" pos="-0.378066 -0.00432737 -0.301926" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_1__3" material="part_1__3_material"/>
      <geom type="mesh" class="visual" pos="-0.374189 -0.008185 -0.316433" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_9" material="part_9_material"/>
      <geom type="mesh" class="collision" pos="-0.374189 -0.008185 -0.316433" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_9" material="part_9_material"/>
      <geom type="mesh" class="visual" pos="-0.23384 -0.00684076 -0.0967326" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="part_2__3" material="part_2__3_material"/>
      <geom type="mesh" class="collision" pos="-0.23384 -0.00684076 -0.0967326" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="part_2__3" material="part_2__3_material"/>
      <geom type="mesh" class="visual" pos="-0.205796 -0.00378821 0.0300526" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="h25t_spline" material="h25t_spline_material"/>
      <geom type="mesh" class="collision" pos="-0.205796 -0.00378821 0.0300526" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="h25t_spline" material="h25t_spline_material"/>
      <geom type="mesh" class="visual" pos="-0.0831097 -0.0537035 -0.259101" quat="0.372261 0.208551 -0.900366 -0.0852597" mesh="part_2__4" material="part_2__4_material"/>
      <geom type="mesh" class="collision" pos="-0.0831097 -0.0537035 -0.259101" quat="0.372261 0.208551 -0.900366 -0.0852597" mesh="part_2__4" material="part_2__4_material"/>
      <geom type="mesh" class="visual" pos="-0.373367 -0.00782789 -0.312946" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_8" material="part_8_material"/>
      <geom type="mesh" class="collision" pos="-0.373367 -0.00782789 -0.312946" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_8" material="part_8_material"/>
      <geom type="mesh" class="visual" pos="-0.376443 -0.00543238 -0.313674" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_6" material="part_6_material"/>
      <geom type="mesh" class="collision" pos="-0.376443 -0.00543238 -0.313674" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_6" material="part_6_material"/>
      <geom type="mesh" class="visual" pos="-0.21308 0.00218629 -0.00859316" quat="0.12006 0.640824 -0.757382 -0.0360958" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
      <geom type="mesh" class="collision" pos="-0.21308 0.00218629 -0.00859316" quat="0.12006 0.640824 -0.757382 -0.0360958" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
      <geom type="mesh" class="visual" pos="-0.372899 -0.00654978 -0.311307" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_12" material="part_12_material"/>
      <geom type="mesh" class="collision" pos="-0.372899 -0.00654978 -0.311307" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_12" material="part_12_material"/>
      <geom type="mesh" class="visual" pos="-0.205629 -0.0106819 -0.0511028" quat="0.538026 0.368235 -0.510026 -0.561074" mesh="ds3235" material="ds3235_material"/>
      <geom type="mesh" class="collision" pos="-0.205629 -0.0106819 -0.0511028" quat="0.538026 0.368235 -0.510026 -0.561074" mesh="ds3235" material="ds3235_material"/>
      <geom type="mesh" class="visual" pos="-0.371644 -0.00600419 -0.305979" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_10" material="part_10_material"/>
      <geom type="mesh" class="collision" pos="-0.371644 -0.00600419 -0.305979" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_10" material="part_10_material"/>
      <geom type="mesh" class="visual" pos="-0.375074 -0.00483719 -0.307863" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_5" material="part_5_material"/>
      <geom type="mesh" class="collision" pos="-0.375074 -0.00483719 -0.307863" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_5" material="part_5_material"/>
      <geom type="mesh" class="visual" pos="-0.372214 -0.00625218 -0.308401" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_11" material="part_11_material"/>
      <geom type="mesh" class="collision" pos="-0.372214 -0.00625218 -0.308401" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_11" material="part_11_material"/>
      <geom type="mesh" class="visual" pos="-0.237767 0.0158398 -0.0462497" quat="0.510026 0.561074 0.538026 0.368235" mesh="ds3235" material="ds3235_material"/>
      <geom type="mesh" class="collision" pos="-0.237767 0.0158398 -0.0462497" quat="0.510026 0.561074 0.538026 0.368235" mesh="ds3235" material="ds3235_material"/>
      <geom type="mesh" class="visual" pos="-0.378933 -0.00470432 -0.305607" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_2__5" material="part_2__5_material"/>
      <geom type="mesh" class="collision" pos="-0.378933 -0.00470432 -0.305607" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_2__5" material="part_2__5_material"/>
      <geom type="mesh" class="visual" pos="-0.372318 -0.00737158 -0.30849" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_7" material="part_7_material"/>
      <geom type="mesh" class="collision" pos="-0.372318 -0.00737158 -0.30849" quat="0.741085 0.657121 0.0197988 -0.136357" mesh="part_7" material="part_7_material"/>
      <geom type="mesh" class="visual" pos="-0.234251 -0.00730786 -0.0968275" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="part_1__4" material="part_1__4_material"/>
      <geom type="mesh" class="collision" pos="-0.234251 -0.00730786 -0.0968275" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="part_1__4" material="part_1__4_material"/>
      <geom type="mesh" class="visual" pos="-0.084514 -0.0496604 -0.257711" quat="0.372261 0.208551 -0.900366 -0.0852597" mesh="part_1__5" material="part_1__5_material"/>
      <geom type="mesh" class="collision" pos="-0.084514 -0.0496604 -0.257711" quat="0.372261 0.208551 -0.900366 -0.0852597" mesh="part_1__5" material="part_1__5_material"/>
      <geom type="mesh" class="visual" pos="-0.23384 -0.00684076 -0.0967326" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="part_3__3" material="part_3__3_material"/>
      <geom type="mesh" class="collision" pos="-0.23384 -0.00684076 -0.0967326" quat="0.110419 -0.0824193 -0.988681 0.0593719" mesh="part_3__3" material="part_3__3_material"/>
      
      <body name="ds3225_mg_metal_horn" pos="0 0 0.2" quat="1 0 0 0">
        <joint name="joint3" type="hinge" pos="0 0 0" axis="0 0 1"/>
        <inertial pos="-0.245427 -0.00497045 -0.039296" mass="0.0101884" fullinertia="9.98777e-07 8.80718e-07 3.20579e-07 -1.00841e-07 -2.28986e-07 -2.75824e-07"/>

        <geom type="mesh" class="visual" pos="-0.240386 -0.00291064 -0.033388" quat="0.77231 -0.182887 -0.601894 0.0883932" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
        <geom type="mesh" class="collision" pos="-0.240386 -0.00291064 -0.033388" quat="0.77231 -0.182887 -0.601894 0.0883932" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
        <geom type="mesh" class="visual" pos="-0.200749 -0.00612297 -0.0324435" quat="0.483602 -0.554924 -0.296283 0.608609" mesh="h25t_spline" material="h25t_spline_material"/>
        <geom type="mesh" class="collision" pos="-0.200749 -0.00612297 -0.0324435" quat="0.483602 -0.554924 -0.296283 0.608609" mesh="h25t_spline" material="h25t_spline_material"/>

        <body name="ds3225_mg_metal_horn_2" pos="0 0 0.2" quat="1 0 0 0">
          <joint name="joint4" type="hinge" pos="0 0 0" axis="0 1 0"/>
          <inertial pos="-0.196381 0.00230163 -0.0441263" mass="0.0101884" fullinertia="1.05149e-06 1.68684e-07 9.79899e-07 -1.21898e-07 -5.24209e-10 1.21137e-07"/>

          <geom type="mesh" class="visual" pos="-0.23404 0.0266001 -0.0381419" quat="0.107381 0.777317 -0.00737826 0.619833" mesh="h25t_spline" material="h25t_spline_material"/>
          <geom type="mesh" class="collision" pos="-0.23404 0.0266001 -0.0381419" quat="0.107381 0.777317 -0.00737826 0.619833" mesh="h25t_spline" material="h25t_spline_material"/>
          <geom type="mesh" class="visual" pos="-0.198447 0.0100525 -0.0445933" quat="0.514218 0.554863 0.544429 0.362359" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
          <geom type="mesh" class="collision" pos="-0.198447 0.0100525 -0.0445933" quat="0.514218 0.554863 0.544429 0.362359" mesh="ds3225_mg_metal_horn" material="ds3225_mg_metal_horn_material"/>
        </body>
      </body>
    </body>
  </body>
</body>

Confirmations

I searched the latest documentation thoroughly before posting.
I searched previous Issues and Discussions, I am certain this has not been raised before.

v-r-a · 2025-08-24T19:12:01Z

v-r-a
Aug 24, 2025

Hi,

After loading the model into the simulate program/python passive viewer, you may pause, press T to make the geometries transparent, press J to visualise joints, and move the sliders in the right menu to observe the motion due to each joint.

0 replies

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

When I upload my xml file in Mujoco , then the joints are not attached to each other. #2814

Uh oh!

{{title}}

Uh oh!

Replies: 1 comment

Uh oh!

{{title}}

Uh oh!

Select a reply

Uh oh!

When I upload my xml file in Mujoco , then the joints are not attached to each other. #2814

Uh oh!

chishti055nsu Aug 24, 2025

Intro

My setup

My question

Minimal model and/or code that explain my question

Confirmations

Replies: 1 comment

Uh oh!

v-r-a Aug 24, 2025

chishti055nsu
Aug 24, 2025

v-r-a
Aug 24, 2025