OK. I think I figured it out. I was computing qvel in the wrong way. Now I'm using: mju_quat2Vel() to go from delta quaternion to qvel.
Thanks for the detailed explanation. I'm trying to control my end-effector to reach a desired quaternion. So I'm using the pseudo-inverse of the...
Hi, I have two questions regarding the jacobian calculation in mujoco: 1. I'm using the rotational jacobian from mj_jacBody function....
Hi, I have a plane <geom>. I want to draw a square on it, and change the 2D position programmatically. The drawn square should not take 3D space...
How do I get orientation of body? I noticed the body_xmat, but it's a 3x3 matrix. How do I interpret this matrix, and how would I transform it to...
I was able to resolve this using this install script here: https://gist.github.com/8enmann/931ec2a9dc45fde871d2139a7d1f2d78 Turns out it was...
I see. I think in my case I do want to use PID control to compensate for disturbances. In the case of PID control, what's the easiest way to...
I'm trying to control joint with <velocity> actuators. One issue encountered was with controlling the joint to combat gravity. When I attempt to...
For GNU C library I'm using $ ldd --version ldd (Ubuntu GLIBC 2.23-0ubuntu9) 2.23
I compiled and installed GLFW manually, but still getting the same error. I ran a tiny .cpp example given on glfw website, and got the same...
Hi Emo, I'm using an intel core i7-7700K CPU, so I don't think it's an old processor problem. I do have NVidia 1080ti GPU installed. How could I...
Hi, I'm getting a segmentation fault when running bin/simulate on ubuntu 16.04. Any idea? How could I provide more debugging information?...
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