Thanks for the suggestion. If we have multiple URDF files, I would need to write some merge util into Mujoco xml? Does the compiler.cpp do this?
Never mind, it looks like we have to merge multiple humanoid bodies into a single xml model file.
The simulate.cpp example only loads a single humanoid.xml model, and the mj->step function only takes a single model. How can Mujoco simulate the...
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