Yuval Tassa

Actually we already have a colab that just needs cleaning up and maybe some of the rendering stuff pulled into library functions. I'll try and see if we we can...

Hi @studywolf, Thanks for the reminder. Yes, you can see a draft proposal of a new `Renderer` class in the LQR colab notebook we [just released](https://mujoco.readthedocs.io/en/latest/changelog.html). @rohanpsingh, FYI. I hope...

The simplest thing would be to overlap the geoms. Geoms belonging to the same body cannot collide with each other and can (and in your case should) overlap. A quick...

Hi, thanks for input! Regarding getContactPoints, simply iterate over the `data->contact` array to read out the contact points that have been found in the last call to the dynamics. Regarding...

You want to change model.site_pos rather than data.site_xpos. xpos quantities get overwritten by kinematics. Makes sense?

Indeed, you can take a look at the LQR task, which has a terminal state condition rather than a time limit. On Thu, 11 Nov 2021 at 23:13, Yicheng Luo...

I'm suspecting some sort of underflow. @shreyasgite, can you specify which model you are trying to import? Also, Unity version, MuJoCo version, operating system, generally [stuff required to reproduce](https://github.com/deepmind/mujoco#asking-questions).

Take a look at [this model](https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml), it contains an example of a limited tendon A video of this model it can be found [here](https://www.youtube.com/watch?v=I2q7D0Vda-A). Does this help?

You are using a maximum tendon length of 60cm, are you sure that is correct? Seems a bit "too round" to be precise. I would strongly recommend adding a [tendon...

The model you posted loads with no issue and has only 4 DoFs (yet the error is complaining about DOF 5), so the problem is elsewhere, something about the walker...