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rohanpsingh / mc_mujoco

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

Support more actuators #15

Closed gergondet closed 2 years ago

gergondet commented 2 years ago

This PR adds support for using <position> and <velocity> actuators. Furthermore, if a model has no <motor> actuators the need for the PD gains file is also ignored