multi-robot urdfs and xml files

[saraybakker1]

for the urdfenvs, I am trying to use the mujoco version for a two mobile manipulator example. Is it true that this supports only 1 robot (instead of two/more?) and I was wondering with which tool you created the xml files (generated from the URDF files I assume?)

[maxspahn]

Two robots are not supported currently in the mujoco wrapper in this repo. Somehow, you would have to merge the xml's of the robots with unique identifiers, somewhere around this line : https://github.com/maxspahn/gym_envs_urdf/blob/4ebdb363c6224705af63a3e8a916e60f01d5c980/urdfenvs/generic_mujoco/generic_mujoco_env.py#L65C9-L65C44

For conversion, I do not remember but I think it was either the mujoco compile, https://mujoco.readthedocs.io/en/stable/programming/samples.html#sacompile or this project: https://docs.kscale.dev/docs/urdf2mjcf.