Mujoco File no Longer Controllable in Genesis v0.3.3

[EZ-Blue]

Hello,

I've been working with Genesis for a bit, testing out some models from LocoMujoco. Specifically, I am working with one model, the Skeleton_Torque.xml (https://github.com/robfiras/loco-mujoco/blob/131c1e7bfb4c3d20ffc82c0368886fe708a5964b/loco_mujoco/models/skeleton/skeleton_torque.xml#L4) which is just a torque actuated skeleton model with 31 DoFs.

Previously I was able to work with this model in Genesis with no issues (I did have to remove the equality constraints at the bottom of the .xml file) but otherwise I was able to control the model joints using Genesis methods like control_dofs or set_dofs. This was working with Genesis Version 0.2.1.

After updating Genesis to 0.3.3, I am no longer able to control all of the joints in the skeleton. There seems to be a problem with having multiple joints at one location. The skeleton mujoco model has 3 joints to control 3 separate DoFs at certain body parts, like the shoulder. The shoulder is technically a ball joint with 3 DoFs, but this is simplified to 3 separate hinge joints with 1 DoF in the model, all located at the shoulder geometry.

When testing the model now, only one of the joints is controllable and the other two no longer produce any change. For example the hip joint, which also has 3 hinge joints, can only control hip_flexion but not adduction or rotation. When visualizing the model using gs view all the joints are still present with their correct limits, but for the certain joints I mentioned they do not produce any change in the joint when I move the slider to control the joint . Before when working in Version 0.2.1 all of these joints were controllable.

I'm wondering if there has been a change to how the xml models are parsed that may no longer support this joint configuration? I'd appreciate any help or advice on this matter - Thanks!

[duburcqa]

Can you try again using the main branch? I think this issue has been fixed yesterday:
#1678

Ping me if it does not work and I will reopen this discussion.

[EZ-Blue]

Yep, reinstalled again and it works now. Thank you!