From 58cd58759b9bf6aeb2e1c9c8db50aea944aa7fc5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tobias=20J=C3=BClg?= Date: Wed, 6 Aug 2025 09:45:57 +0200 Subject: [PATCH 1/2] fix(ik): pinocchio ik with mjcf - mjcf of pin ik must be the plain robot xml - it has to have the default attribute which needs to be at the beginning --- assets/fr3/mjcf/fr3_0.xml | 192 +++++++++++++++++++++ assets/fr3/mjcf/fr3_common.xml | 42 ----- assets/fr3/mjcf/fr3_unnamed.xml | 54 +++++- assets/scenes/fr3_empty_world/fr3_0.xml | 156 +---------------- assets/scenes/fr3_simple_pick_up/fr3_0.xml | 153 +--------------- python/rcs/envs/creators.py | 3 + python/rcs/envs/utils.py | 5 +- src/rcs/IK.cpp | 10 +- 8 files changed, 253 insertions(+), 362 deletions(-) create mode 100644 assets/fr3/mjcf/fr3_0.xml mode change 100644 => 120000 assets/scenes/fr3_empty_world/fr3_0.xml mode change 100644 => 120000 assets/scenes/fr3_simple_pick_up/fr3_0.xml diff --git a/assets/fr3/mjcf/fr3_0.xml b/assets/fr3/mjcf/fr3_0.xml new file mode 100644 index 00000000..35f35039 --- /dev/null +++ b/assets/fr3/mjcf/fr3_0.xml @@ -0,0 +1,192 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/fr3/mjcf/fr3_common.xml b/assets/fr3/mjcf/fr3_common.xml index 1196d6bc..a29b9dde 100644 --- a/assets/fr3/mjcf/fr3_common.xml +++ b/assets/fr3/mjcf/fr3_common.xml @@ -1,49 +1,7 @@ -