Hello! I'm starting to work with MuJoCo now, and I'm also verry new into simulation of dynamics of rigid bodies. I would like to know what are the units assumed/used in MuJoCo? Is it SI (m, kg, s)? Were could I found information about it? I have looked, but found nothing in the documentation. Thank you very much!
MuJoCo does not assume any units - it just works with the numbers you entered, without any automatic unit conversions. So it is up to you to use compatible units in your model. SI units are the best of course.