Hey, I want to simulate the poppy robot in mujoco since vrep (the simulator they ship poppy with) is kind of slow and a bit cumbersome to control for the stuff I want to do. I am able to extract the poppy model from vrep, create a URDF file from it and convert that in an xml file which can be loaded in mujoco. I attached the xml file to this post. I added a floor and changed some of the default params. After that, the unactuated motion looks already quite good. However, the actuator properties (dynamixel servos of types MX-28AT and MX-64AT) are not part of the URDF file. Hence, I copied the actuators from the open AI gym humanoid model and played a little bit with the parameters (and also changed from torque control to position control). Ideally, I would like to have a rather accurate model of the actual servers, but I am not sure how to set the actuator properties accordingly. Some help would be very much appreciated. Best, s-bl