Hello, I am modelling a robot that has several of the same part. This part, previously concave, has been decomposed into many convex hulls. I am attempting to use the <include> mechanism to include the list of <geom>s within each <body> representing this repeated part. However, I receive: Code: Could not load mujoco model with error: XML Error: File '<filename>' already included when compiling. Is there any way to allow multiple inclusions of the same file? This answer implies there is: http://www.mujoco.org/forum/index.php?threads/simulation-multiple-robot-in-one-scene.3743/#post-4824 If not, this seems like a hole in the modular approach. Or is there a better strategy? Many thanks, Ethan
You have to name the files differently. This protection is there to prevent recursive includes. Or even better, create a single .xml file referencing many .stl files. There is no reason to create a separate .xml for each .stl.