RobotControlStack · juelg · Apr 12, 2026 · Apr 12, 2026 · Apr 12, 2026 · Apr 12, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -58,7 +58,6 @@ FetchContent_Declare(
 )
 
 FetchContent_MakeAvailable(pybind11 Eigen3 egl_headers)
-include(compile_scenes)
 # egl headers
 include_directories(${egl_headers_SOURCE_DIR}/api)
 

diff --git a/assets/add_gravcomp.py b/assets/add_gravcomp.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+
+from __future__ import annotations
+
+import argparse
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+
+def local_name(tag: object) -> str | None:
+    if not isinstance(tag, str):
+        return None
+    if "}" in tag:
+        return tag.rsplit("}", 1)[1]
+    return tag
+
+
+def update_mjcf(root: ET.Element, force: bool, remove: bool) -> tuple[int, int]:
+    body_count = 0
+    joint_count = 0
+
+    for elem in root.iter():
+        tag = local_name(elem.tag)
+        if tag is None:
+            continue
+
+        if remove:
+            if tag == "body" and "gravcomp" in elem.attrib:
+                del elem.attrib["gravcomp"]
+                body_count += 1
+
+            if tag == "joint" and "actuatorgravcomp" in elem.attrib:
+                del elem.attrib["actuatorgravcomp"]
+                joint_count += 1
+            continue
+
+        if tag == "body" and (force or "gravcomp" not in elem.attrib):
+            elem.set("gravcomp", "1")
+            body_count += 1
+
+        if tag == "joint" and (force or "actuatorgravcomp" not in elem.attrib):
+            elem.set("actuatorgravcomp", "true")
+            joint_count += 1
+
+    return body_count, joint_count
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="Add gravcomp attributes to all MJCF <body> and <joint> tags."
+    )
+    parser.add_argument("input_xml", type=Path, help="Path to the input MJCF XML file.")
+    parser.add_argument(
+        "-o",
+        "--output",
+        type=Path,
+        help="Optional output path. If omitted, the input file is updated in place.",
+    )
+    parser.add_argument(
+        "--force",
+        action="store_true",
+        help="Overwrite existing gravcomp / actuatorgravcomp attributes.",
+    )
+    parser.add_argument(
+        "--remove",
+        action="store_true",
+        help="Remove existing gravcomp / actuatorgravcomp attributes instead of adding them.",
+    )
+    args = parser.parse_args()
+
+    parser = ET.XMLParser(target=ET.TreeBuilder(insert_comments=True))
+    tree = ET.parse(args.input_xml, parser=parser)
+    root = tree.getroot()
+
+    body_count, joint_count = update_mjcf(
+        root,
+        force=args.force,
+        remove=args.remove,
+    )
+    ET.indent(tree, space="    ")
+
+    output_path = args.output or args.input_xml
+    tree.write(output_path, encoding="utf-8", xml_declaration=False)
+
+    action = "Removed" if args.remove else "Updated"
+    print(f"{action} {body_count} body tag(s) and {joint_count} joint tag(s) in {output_path}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/assets/cameras/real_sense/mjcf/d435i.xml b/assets/cameras/real_sense/mjcf/d435i.xml