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mujoco-ur5-model's Issues

Cannot find the xml direction in set_ur5_joint

Hi:
Thanks for your good model.
I am trying modify robot joint through set_ur5_joint. In that program, it will pop out a message that I need to type the directory where xml file I want to modify.
So I open a empty xml file and paste

<inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
<body name="upper_arm_link" pos="0 0.13585 0" quat="0.707107 0 0.707107 0">
    <inertial pos="0 0 0.28" mass="8.393" diaginertia="0.226891 0.226891 0.0151074" />
    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
    <body name="forearm_link" pos="0 -0.1197 0.425">
        <inertial pos="0 0 0.25" mass="2.275" diaginertia="0.0494433 0.0494433 0.004095" />
        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm" />
        <body name="wrist_1_link" pos="0 0 0.39225" quat="0.707107 0 0.707107 0">
            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.219" diaginertia="0.21942 0.111173 0.111173" />
            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
            <body name="wrist_2_link" pos="0 0.093 0">
                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.219" diaginertia="0.21942 0.111173 0.111173" />
                <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                <body name="wrist_3_link" pos="0 0 0.09465">
                    <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5"  mass="0.1879" diaginertia="0.033822 0.0171365 0.0171365" />
                    <geom type="mesh" rgba="0.7 0.7 0.7 1" friction="0.8 0.8 0.8" mesh="wrist3" />
                </body>
            </body>
        </body>
    </body>
</body>

Then I type the absolute direction but it gave me result that the file didn't exit. So how can I write the directory for the xml file?
Thanks again
Gloria

No "body" with name link_15.0_fcl exists when run python3 ur5_allegro_deritivate.py,

qiang@qiang:~/IP4GP/tactile$ python3 ur5_allegro_deritivate.py
Creating window glfw
action start
len_verts_cup: 2500
len_verts_fingertip: 653
len_tris_fingertip: 1233
Traceback (most recent call last):
File "ur5_allegro_deritivate.py", line 778, in
collision_test()
File "ur5_allegro_deritivate.py", line 579, in collision_test
link_15_tip_pos_global = f.get_relative_posquat(sim, "palm_link", "link_15.0_fcl")
File "/home/qiang/IP4GP/tactile/func.py", line 58, in get_relative_posquat
posquat_object = get_body_posquat(sim, object)
File "/home/qiang/IP4GP/tactile/func.py", line 39, in get_body_posquat
pos = sim.data.get_body_xpos(name)
File "mujoco_py/generated/wrappers.pxi", line 2604, in mujoco_py.cymj.PyMjData.get_body_xpos
File "mujoco_py/generated/wrappers.pxi", line 1019, in mujoco_py.cymj.PyMjModel.body_name2id
ValueError: No "body" with name link_15.0_fcl exists. Available "body" names = ('world', 'box_2', 'cup', 'mocap_ee', 'box_link', 'base_link', 'shoulder_link', 'upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link', 'wrist_3_link', 'ee_link', 'wrist_adaptor',

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