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gazebosim / gz-mujoco

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Serial joints suggestion #87

Closed azeey closed 2 years ago

azeey commented 2 years ago

Fix serial joint creation for joints with parents as world body. Also make each body that's a direct child of worldbody its own model and turn off self_collide

azeey commented 2 years ago

humanoid.xml is not working

Nice catch! Should be fixed by https://github.com/gazebosim/gz-mujoco/pull/87/commits/6d24faf308b8990350b0697b8a674cbae1697932

when we are accesing the site.parent is not inside this structure, sensors might be attached to links too.

The issue was that the body we get from site.parent might not be a root (of the kinematic tree) body. None of the sensors we support currently can be attached to links. I see framepos can be configured to reference different entities, including geoms, but we can add that in a follow up PR.

manipulator.xml something is wrong in one of the fingers.

This is not related to this PR. There's a bug with euler angles not being processed correctly if compiler.eulerseq != "XYZ". I have a preliminary fix (PR coming soon) for this that supports "xyz", but supporting all euler angle conventions might be cumbersome. I wonder if we can query the physics engine itself.

stacker.xml something is wrong in one of the fingers.

I think this is the same euler angle issue

quadruped.xml

I noticed this one too. Might be a bug in pymjcf.

azeey commented 2 years ago

tests are failing

Fixed in https://github.com/gazebosim/gz-mujoco/pull/87/commits/7928ad04efd61d5dc508ed914c9edc077d448d55. I was waiting for some feedback on the approach before fixing all the tests.

codecov[bot] commented 2 years ago

Codecov Report

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azeey commented 2 years ago

manipulator.xml something is wrong in one of the fingers.

Fix https://github.com/gazebosim/gz-mujoco/pull/90