Path planning in Mujoco?

Discussion in 'Simulation' started by Dimitri, May 30, 2018.

  1. Dimitri

    Dimitri

    I am trying to perform path planning in Mujoco, however I am running into issues with setting joint angles for collision checking:

    "Got MuJoCo Warning: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.8260"

    Is there a recommended way for this?
     
    Dimitri, May 30, 2018
    #1
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    This means that for some reason the simulation went unstable (and was reset automatically). Are you moving bodies directly? If so, you could end up with very large contact violations that make the simulation unstable. If you want to do only kinematic computations without actual physics, you can call the lower-level functions, like mj_fwdPosition().
     
    Emo Todorov, May 31, 2018
    #2
  3. Dimitri

    Dimitri

    I am going through mujoco-py, my code is:

    Code:
    state = sim.get_state()
state.qpos[active_joint] = position_setpoints[active_joint]
sim.set_state(state)
sim.forward
sim.step()
    This is causing similar errors. Underlying this is calling mj_fwdPosition() after I set the qpos, without calling step() the simulation does not move.
     
    Dimitri, May 31, 2018
    #3