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support "site" transmission type#154

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christianrauch wants to merge 5 commits intoros-controls:mainfrom
christianrauch:sites
Open

support "site" transmission type#154
christianrauch wants to merge 5 commits intoros-controls:mainfrom
christianrauch:sites

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@christianrauch christianrauch commented Mar 27, 2026 •
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Support mjTRN_SITE, such as used with the Skydio X2 MuJoCo model:
https://github.com/google-deepmind/mujoco_menagerie/blob/feadf76d42f8a2162426f7d226a3b539556b3bf5/skydio_x2/x2.xml#L55-L60

  <worldbody>
    <body name="x2" pos="0 0 0.1" childclass="x2">
      <freejoint/>
      <site name="thrust1" pos="-.14 -.18 .05"/>
      <site name="thrust2" pos="-.14 .18 .05"/>
      <site name="thrust3" pos=".14 .18 .08"/>
      <site name="thrust4" pos=".14 -.18 .08"/>
    </body>
  </worldbody>

  <actuator>
    <motor class="x2" name="thrust1" site="thrust1" gear="0 0 1 0 0 -.0201"/>
    <motor class="x2" name="thrust2" site="thrust2" gear="0 0 1 0 0  .0201"/>
    <motor class="x2" name="thrust3" site="thrust3" gear="0 0 1 0 0 -.0201"/>
    <motor class="x2" name="thrust4" site="thrust4" gear="0 0 1 0 0  .0201"/>
  </actuator>

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saikishor
saikishor requested changes Mar 27, 2026
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Hello,

Can you please add a test for the new behaviour?

@christianrauch christianrauch mentioned this pull request Mar 27, 2026
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@saikishor saikishor saikishor requested changes

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@christianrauch @saikishor