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Run the following code to install dependencies:
pip install -r requirements.txt -
Place mimic_util.py into your project files.
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Reference the find_joints_with_dof() function in mimic_util.py to obtain active and passive joints(mimic joints) for the specified joint.
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Use the actuate() function to assign actuator control values(open-loop) to the specified original control matrix, in particular, the u_delta matrix obtained from the arm IK solver in Isaac Gym.
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Use the position_check() function to apply closed-loop control signal to the specified control matrix