And what is qpos[7]? Well you have an additional joint in your xml so obviously its that. <joint name="balansierjoint" pos="0 0 0" type="slide"...
You could use a end-effector mounted force / torque sensor, i.e., the force / torque sensor that is already provided...
A good night's rest could do it.
The documentation is very clear about those quantities. Check what int nq;// number of generalized coordinates = dim(qpos) and int nv;// number of...
That is a very good question. In the documentation it states: gcc for linux and msvc for windows. So I assume that at least concerning compilation...
setting convexhull : [false, true], "true" will not alter Mujoco as to work for general meshes. What you need to do (at least collision-wise, you...
Mujoco uses a convex collider. Your mesh gets replaced by its convex hull. Its not an error.
I suggest writing a simple bash/python script that goes through the .obj file and makes a system call to the command line interface of meshlab. I...
This visualization is part of the simulate binary that comes with mujoco.
If you are using the openAi wrapper, than I have no idea if changes take affect at all, other than that you should be able to also modify damping...
[ATTACH] You need to fix the position of the anchors (red balls), the position of the joints (they are off as well) as well as the joint ranges...
Can you attach the full model?
Florian Wirnshofer PhD candidate at Siemens AG & Freiburg University
You can just change the model at runtime, although (to the best of my knowledge) you might run the risk of causing undefined behavior within the...
After every mj_Step() iterate through the contacts in mjdata to see if the respective geometry pair intersects or not pre and post impact states:...
Mujoco would require a generic inverse kinematics solver to do so. It would have to deal with unsolvable IKs and resolve redundancy. Your proposed...
I have zero experience concerning mujoco_py but anything you modify in data other than the state (that is time qpos qvel warmstartdata and act...
You could try to make the contacts stiffer to avoid penetration. If its just about grasping the pan, I would just use a capsule for a handle and a...
Quaternions occur for freejoints and ball joints. Also the joints occur in the same sequence as specified in the mjcf file. You can get everything...
The time derivative of qpos is qvel. The difference between the dimensions stems from the fact that quaternions have 4 parameters and angular...
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