Hi there, I need to simulate an object grasping in mujoco. The object is a non-convex one (such as bunny.stl). I already used v-hacd to d0...
Oh I got the answer of the first and the third question: The slippage is unavoidable, because the mujoco are dealing with deformation dynamics in...
Hi there, I try to develop a manipulation skill using Mujoco. When I do simulation, I found that the object is slowly sliding in hand, even I set...
Thanks Professor, I have reduced the volume of the fingertip, size now is less than 100K, and use the scale command. I finally found the issue:...
Thanks so much Professor for your comments and trial. 1. I tested the xml file in my own project, the compiled exe by me cannot work. But it...
The mesh file is attached. I also tried other files, such as the bhand_finger_dist_link_convex.stl but it doesn't work neither. Thanks,
When I try to drag the xml to the simulation, it shows: xxx.exe has stopped working, but the cmd window didn't give any error message. I...
Hi there, I have to import the an mesh file called fingertip_convex.stl into the distal finger link. The mesh model is a part of the body...
Thanks Professor, You are correct. The reason that there is a 4e-4 gap is because I set the joint armature='0.0004' as default. But I never...
Oh, I didn't calculate by hand. I specified them in the xml model. I expect the system can output the specified value. For example, when I specify...
Is it because numerical consideration, i.e. to avoid singularities? so you choose to add \espilon I in M matrix?
Hi there, I try to obtain the Inertia matrix using the following code (in Mujoco 131), and I found an error: the diagonal entry always add...
By the way, I need to use Inertia matrix of the fingers to do computation. The hand and the object is shown in figure: [IMG] I use the following...
Thanks, it works beautifully. Best regards,
Hi there, I try to simulate a grasping of planar object using pretty simple two finger hand (4DOF total). I want the hand to overcome the gravity...
Hi, thanks for your reply. I have checked all the forces using the frame that you explained, and now they are exactly same. Actaully, I have four...
Hi, I am working on grasping project, and I am interested in how much force the hand gave to the object. In my situation, there are no other...
Also, unexpected slide happens during the simulation, even the contact forces lies in friction cone. More specifically, I set friction coefficient...
Hi, I try to lift the object using a 4 finger hand. I found an interesting phenomenon: the finger-tips will sink into the object at the beginning...
Thanks for your reply and excellent documentation! Now I am be able to understand more about it. Best regards
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