When mujoco converts URDFs to XMLs, it drops the actuators, which causes the model to have no motors. This PR manually parses the URDF and adds them back into the XML post-hoc.
[NOTE] This PR also adds support for mimic joint parsing to handle underactuated systems. However, these commits are currently failing checks because #21 is not merged yet. So, the changes are commented out until then.
When mujoco converts URDFs to XMLs, it drops the actuators, which causes the model to have no motors. This PR manually parses the URDF and adds them back into the XML post-hoc.
[NOTE] This PR also adds support for mimic joint parsing to handle underactuated systems. However, these commits are currently failing checks because #21 is not merged yet. So, the changes are commented out until then.