Hello, What do 10 real numbers mean in actuator_dynprm? I assume the first element is an inertia of the actuator, but not sure what are the...
Hi, I was able to load darwin model in mujoco. However, when I saved the model and saw the number of nu 0. What would I do? Thank you
Thanks for the reply! Does dense elliptic solver mean by m->opt.jacobian = 0 and m->opt.cone = 0?
Hi, First of all, thank you for maintaining this forum and quick reply! I've read through documentation which is about constraint, contact. I...
Hi, Related to centroid dynamics, I would like to ask if there is a function to get center of mass (6d), its Jacobian(6, nq) and centroid inertia...
Hello, I am wondering if I could get a derivative of jacobian of link CoM Thank you.
Thanks for the reply! I should have allocate first. I am also comparing the CoM velocity of each links by printing out data->cvel and J_com*qdot...
Hello, I am playing with the example code which is simulate.cpp. After I mj_step, I would like to get jacobian of body with mj_jacBody(m, d, jacp,...
Hi all, I have a question on qfrc_inverse term! I read the documentation about it saying, qfrc_inverse = qfrc_applied + J'*xfrc_applied +...
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