[Bug Report] FetchPickAndPlace-v3 broken

[Sebastian-Griesbach]

Describe the bug
Rendering the FetchPickAndPlace-v3 environment, I see that that robot seems to be misplaced and that the small Box which should be picked up spawns inside the Big Box (table) on the floor.

Code example

import gymnasium as gym
import gymnasium_robotics

gym.register_envs(gymnasium_robotics)

env = gym.make('FetchPickAndPlaceDense-v3', render_mode='human')

num_episodes = 100
for i in range(num_episodes):
    obs, info = env.reset()
    done = False
    while not done:
        action = env.action_space.sample()
        obs, reward, terminated, truncated, info = env.step(action)
        done = terminated or truncated

System Info
installed gymnasium-robotics via pip in a fresh venv
Ubuntu 24.04.1 LTS
Python 3.12.3

Additional context
This videos shows the issue.

Checklist

• I have checked that there is no similar issue in the repo (required)

[kuds]

Hey @Sebastian-Griesbach, this is a known issue in the current release version (1.3.1) of Gymnasium Robotics and was fixed in PR #256.

If you do a pip install from source and use FetchPickAndPlaceDense-v4, it should work.

pip install git+https://github.com/Farama-Foundation/Gymnasium-Robotics.git