rohanpsingh/mc_mujoco

Joint torques sent to mc_rtc are wrong?

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rohanpsingh commented

mc_mujoco/src/mj_sim.cpp

Line 392 in 39f8324

torques[mj_jnt_to_rjo[i]] = data->qfrc_actuator[mj_mot_ids[i]];

@gergondet I think we should be using the actuators' dof address while accessing data->qfrc_actuator, instead of motor ids.
Do you agree?

rohanpsingh commented

Solved in 5490e09