Adds support for setting the initial velocities for joints with multiple DOF

ubi-agni / mujoco_ros_pkgs

Wrappers, tools and additional API's for using ROS with MuJoCo

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Adds support for setting the initial velocities for joints with multiple DOF #3

Closed fpatzelt closed 2 years ago

DavidPL1 commented 2 years ago

I've integrated the changes into the more recent testing branch, extended your code to also handle initial joint positions for ball and free joints, added some sanity checks (it's now required to provide velocities or positions for all axes), and changed/added unit tests accordingly. This should work for you as before, but please test it and change the base branch of the PR to testing, then I will merge it.

fpatzelt commented 2 years ago

I changed the base branch to testing. Everything works for me as intended. This should be ready for merging.