Is genesis able to simulate closed loop robot like Stewart platform?

[Fuhua-Bot]

hi, there, like I mentioned in the title, we are working on transfering to learning-based method from classic control scheme. I have tried mujuco, isaac and gazebo, but the closed-loop support remains a big barrier, so it brings me here. I hope to get reply soon, thanks.

[duburcqa]

Both mujoco and genesis support closed loop system via equality constraints, in particular weld or connect.