search

rohanpsingh / mc_mujoco

MuJoCo interface for mc-rtc
https://arxiv.org/abs/2209.00274
BSD 2-Clause "Simplified" License
77 stars 18 forks source link

Joint torques sent to mc_rtc are wrong? #12

Closed rohanpsingh closed 2 years ago

rohanpsingh commented 2 years ago

https://github.com/rohanpsingh/mc_mujoco/blob/39f832427237aa37ae0b4f4fd5b97eb565697550/src/mj_sim.cpp#L392

@gergondet I think we should be using the actuators' dof address while accessing data->qfrc_actuator, instead of motor ids. Do you agree?

rohanpsingh commented 2 years ago

Solved in 5490e09d5e7222be1136ed92c580bfc93c39a870