How does mjlab support equality constraints? #346
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how does mjlab tell non-actuated joint? |
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Replies: 2 comments 1 reply
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I can't do much the information you've provided. Need some code, an example model, etc. |
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can mjlab handle robot like this repo: https://github.com/HuNingHe/closed_loop_ankle, how can I do this |
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Hello @HuNingHe, mjlab can handle robots like this, I use one with similar constraints. Use equality constraints where you want to close the loop in th xml, actuate only the joints where there should be motors in the robot constants file and that should work as it is. If you run into errors, please open an issue with your robot description file, robot constants file and the error. |
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Hello @HuNingHe, mjlab can handle robots like this, I use one with similar constraints. Use equality constraints where you want to close the loop in th xml, actuate only the joints where there should be motors in the robot constants file and that should work as it is. If you run into errors, please open an issue with your robot description file, robot constants file and the error.