Interpolate the command provided by mc_rtc

rohanpsingh / mc_mujoco

MuJoCo interface for mc-rtc

https://arxiv.org/abs/2209.00274

BSD 2-Clause "Simplified" License

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Interpolate the command provided by mc_rtc #3

Closed gergondet closed 3 years ago

gergondet commented 3 years ago

Fixes stability issues when mc_rtc timestep != mujoco timestep
Cache the mujoco joint order to mbc joint order correspondance
Use the desired joint velocity as well

rohanpsingh commented 3 years ago

A minor fix to get the ids of actuated joints directly from mujoco. Mujoco will could joints from the freejoint, so we must subtract one later for our use.