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Support for different control modes with mujoco by defining PIDs #38
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This is ready for review ;) |
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Replaced by: ros-controls/mujoco_ros2_simulation#5 |
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Hello!
We added a new feature here. If you define the PIDs via an argument, then you can utilize different control modes. For instance, with a standard MuJoCo actuator, after defining gains of position and velocity PIDs, you can control the robot in position, velocity or effort.
We also added an example test case, so you can try it out