Add qpos pinning to direct optimizer (python)

google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

https://github.com/deepmind/mujoco_mpc

Apache License 2.0

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Closed thowell closed 4 months ago

thowell commented 4 months ago

Adds functionality to direct optimizer to pin qpos variables at specified time indices.
Updates particle waypoint trajectory optimization example
Moves API examples to new subdirectory