Hi! I am new to MuJoCo and I am trying to control a robot model that I made with the Schunk 3-finger hand. I am controlling the joint positions using mujoco-py interface similar to the script shown here. I continuously increase the joint values in every simulation step. I see the following results (video is attached), which do not respect collision constraints and the robot penetrates itself. What is the right way of controlling such a robot? I have a mocap body attached to the hand. My end goal is that the robot goes down, grasps the object and comes back up. I was able to simulate this using just MuJoCo simulation using slider controls and mocap control manually. But I would like to have a script for the same. Any input will be highly appreciated. Thanks!
You are not controlling the robot, you are just setting its state. You need to add actuators and fill the relevant fields in mj_data. Refer to the documentation for that.
Thanks! It works now. Do you have any inputs about controlling the mocap box attached to the hand? I use set_mocap_pos, but it moves the mocap box and not the hand. Thank you very much in advance!