Required Changes for MuJoCo 3.6.0 Upgrade#574
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…lity MuJoCo 3.6.0 re-enabled keyframe qpos validation during replicate processing, causing hangar_sim to crash on startup. Replace the two <replicate> elements for lidar sites and their rangefinder sensors with manually expanded equivalents. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Apr 16, 2026
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confirmed all the things move in the sims
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Upgrading from MuJoCo 3.2.7 to 3.6.0 exposes some bugs in our configs because validation checks weren't previously being run on
qposvalues or the<replicate>tag. Claude tells me it's not possible to use the<replicate>tag in the way it was being used inhangar_simand still pass those checks which is why the values have to be broken out individually. These changes should be backward-compatible.Companion to PickNikRobotics/moveit_pro#18077.