This is done by merging the MuJoCo models representing the robots into a single scene.
This PR also removes hard-coded values for sensor readings and thus rely on having sensor names in MuJoCo based on the sensor names in mc_rtc (an error message is displayed if some sensors are not found in the MuJoCo scene).
This adds support for multi-robot control.
This is done by merging the MuJoCo models representing the robots into a single scene.
This PR also removes hard-coded values for sensor readings and thus rely on having sensor names in MuJoCo based on the sensor names in mc_rtc (an error message is displayed if some sensors are not found in the MuJoCo scene).
This requires changes to the existing mc_mujoco models which has been done on JVRC1 (https://github.com/isri-aist/jvrc_mj_description/commit/fc58f59258a095224336ab6ef0868777b0953c63) and HRP5P but not other models.
I have a a ground model for the env/ground model in mc_rtc so it is not necessary to include a ground in the robots' models anymore.