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rohanpsingh / mc_mujoco

MuJoCo interface for mc-rtc
https://arxiv.org/abs/2209.00274
BSD 2-Clause "Simplified" License
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Improve initialization of qpos and qvel #49

Closed mmurooka closed 1 year ago

mmurooka commented 1 year ago

This patch should solve the following remaining issue mentioned in the previous PR. (I don't see the benefit of keeping qInit or alphaInit explicitly, so I deleted them and directly set data->qpos or data->qvel, but please correct me if I'm wrong)

For now we still don't allow a mismatch between the kinematic structure in mc_rtc and the kinematic structure in the corresponding MuJoCo model, this would require a little extra work to handle the gaps in qpos/qvel