Yes you can do it via simulation. Create a soft equality constraint between the end-effector and a mocap body, move the mocap body to the desired...
You would have to implement your own optimization procedure (or some other method). There is no built-in functionality to support inverse...
The best way to do it is to look at mjData. All the forces acting on the joints are there. In particular, mjData.qfrc_unc is the sum of all...
Yes, in general one can do a lot with lighting. MuJoCo exposes the fixed-function OpenGL lighting model essentially one-to-one.
1. body jacobians are a bit faster, but the difference is negligible. 2. yes you can define sites and get their jacobians. 3. there is no...
All contacts are in mjData.contact. If a contact is not there, it cannot generate force. How do you know the contacts are not there? The number...
In addition to what Florian said, you can use the body Jacobians to convert between joint forces to end-effector forces. One conversion is...
Sometime in late Summer most likely.
Yes you can end up with negative LT if you apply the formulas. In real muscles this should never happen of course. But it can happen in the...
Yes this calculation can produce unexpected results for some geom pair types. Intuitively you would expect the geoms to be inflated somehow, but...
Indeed you cannot control whether or not individual geoms cast shadows. You can control the properties of the light only.
Actually that particular interaction can happen in the real world if there is slip. Anyway, in general you should visualize the decomposition and...
You cannot change the frame of a mesh geom for the same reason that you cannot change the frame of a cylinder geom: the whole point of the geom...
Friction value of 10 is very unrealistic, and results in counter-intuitive artifacts. It is better to keep it closer to 1. The solref and solimp...
There are many rendering flags that enable/disable various features. One of them is for constraints. To change the size, adjust the constraint...
There is actually one more thing you can do: project the state on the constraint manifold after each simulation step. In other words, make a...
You have to use a constraint, no matter how you formulate the kinematics and dynamics of the system. MuJoCo uses minimal coordinates where some...
Large stiffness always leads to instability when integrating ODEs. You could make the step size smaller or use RK4, but it is better to reduce...
The cloth object can indeed have unrealistic dynamics, because it is implemented as a kinematic spanning tree with additional constraints. The...
Yes, you can use equality constraints. They are designed for this type of situation: http://www.mujoco.org/book/computation.html#coEquality
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