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Fix duplicated inertial property + free joint issue #765

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Merged
kevin-thankyou-lin merged 4 commits into from
Oct 25, 2025
Merged

Fix duplicated inertial property + free joint issue #765

kevin-thankyou-lin merged 4 commits into from
Oct 25, 2025

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@kevin-thankyou-lin kevin-thankyou-lin commented Oct 23, 2025

What this does

Fixes error from updated base adding PR.

Error:

python robosuite/scripts/collect_human_demonstrations.py --robot GR1FloatingBody --device spacemouse
  File "robosuite/models/base.py", line 145, in get_model
    model = mujoco.MjModel.from_xml_string(string.getvalue())
ValueError: XML Error: Schema violation: unique element 'inertial' found 2 times
Element 'body', line 155

How to test

python robosuite/scripts/collect_human_demonstrations.py --robot GR1FloatingBody --device spacemouse

@kevin-thankyou-lin kevin-thankyou-lin changed the title Fix duplicated inertial property issue Fix duplicated inertial property + free joint issue Oct 23, 2025
@kevin-thankyou-lin kevin-thankyou-lin merged commit cb25aae into master Oct 25, 2025
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ShahRutav pushed a commit to ShahRutav/robosuite that referenced this pull request Dec 31, 2025
@kevin-thankyou-lin @ShahRutav
Fix duplicated inertial property + free joint issue (ARISE-Initiative…
4609aaa 
…#765)

* Fix duplicated inertial property issue

* skip explicit torso action is >1D

* Format

* Don't add freejoints for add_mobile_base
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@abhihjoshi abhihjoshi abhihjoshi approved these changes

@Abhiram824 Abhiram824 Awaiting requested review from Abhiram824

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@kevin-thankyou-lin @abhihjoshi