mujoco modular hierarchical design options

[Steph71]

Intro

Hi,

I wonder whether there are any best practices for modular hierarchical designs in mujoco xml.

If I understand right mujoco has an include statement to include files into a root xml scene.

My setup

However any references to other xml files or assets have to be relative to the root scene file ... which means that in structures like this:

│   scene.xml -> includes module1.xml and module2.xml
│  
├───module1
│   │   module1.xml
│   │	 scene.xml -> used to test module1
│   └───assets
│           module1.stl
│
├───module2
    │  module2.xml
    │	scene.xml -> used to test module2
    └───assets
            module2.stl

will not work, because the paths in module*.xml can be either relative to the top level scene or to the module level scene.

My question

How would I setup such a hierarchical design .... I might also want to use the modules somewhere outside the tree they are defined in. How is this ment to work ?

Best Regards
Stephan

Minimal model and/or code that explain my question

No response

Confirmations

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