On a low motivation ride today again.

So, the thing is, mujoco. That's it. Mujoco is very annoying.

Current problem is that I have an xml as a robot description input from elsewhere, but it is not scaling well when I use it as input in another file. And it seems I can't scale everything else down, so I have to scale up the robot. And as I haven't found a way to scale up the entire thing at once, I might have to modify the xml for the arm. And that's annoying because I have to change every single joint and site and other stuff for it to work well...

Fuuuuuuuuck. 😑