Title pretty much says it all. If I have a model with a freejoint, which has some rotation around all axes, and I prescribe some angular velocity...
mj_jac() and related functions provide a geometric ("end-effector") jacobian. The result is (3 x nv) and could be used as: [IMG] (Where v is qvel...
Pretty straightforward question: is there a way to get the actuator jacobian in MuJoCo? It is for instance mentioned here:...
I am working on a simulation where a robot moves his legs. I need to toggle at runtime wether each foot is fixed to the world or not. I.e. when in...
My whole model rests on a Z-axis hinge joint and I'm curious about the X and Z reaction forces in this joint. How to get those reaction forces,...
For an application I am writing I need MuJoCo to function as the dynamics back-end. This is going so far so good, however, I'm running into a...
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