[MODEL] Add support sites or reference positions #11
Description
The feature, motivation and pitch
MuJoCo supports sites as option to define dummy entities in link space that are useful for:
- attaching sensors at specific locations
- inverse kinematics
- immitation learning
Currently, sites are automatically added at the base of links to enable force/trq sensors. This should be exposed such that the user can define arbitrary number of sites under each link. This feature will only be support for MuJoCo at the moment!
Alternatives
No response
FARMS packages
farms_mujoco
Additional context
No response