We're using the MuJoCo simulator under the hood: https://mujoco.org/ https://mujoco.org/ The keys are actually implemented using a spring mechanism, but spring

We're using the MuJoCo simulator under the hood: https://mujoco.org/ https://mujoco.org/ The keys are actually implemented using a spring mechanism, but springs in MuJoCo are currently linear, which isn't the case in the real world.