I created a multi-body system and tried to compute its kinematics. I found that the body rotation matrix from Mujoco and my computation is the...
I saw the examples in online docs and XML which is in MuJoCo 2.0. The soft materials are created by using body/composite under the worldbody with...
Hi, I would like to calculate the inertias of two articulated bodies. First, I created a floating body in the XML with a diaginertia. When I...
I would like to know how MuJoco calculates inertia of a single rigid body w.r.t. CoM. I set the diagonal inertia in the xml but i can't get the...
you can use <freejoint name="root"/> as described in humanoid.xml
Hi, I don't understand what is difference between actuator_force & qfrc_actuator? can you give me some example?
I would like to see the contact frame which i defined using contact pair. How can i visualize the contact frame?
Hello, Practically with fixed body robot, when dynamics are calculated by using recursive newton-euler, each joint is defined as 1 hinge joint...
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