I am able to set the qpos initial values at default pose. Due the change is qpos0 values, the robot becomes unstable(because of high qvel values)...
Can you provide me ways to fast forward the simulations? Since I am using the MuJoCo model for reinforcement learning, I need to know ways so that...
for(int i=0;i<13;i++) { m->qpos0[13+i] = fRand(angle_bound[0][6+i], angle_bound[1][6+i]); } mj_resetData(m,d); mj_kinematics(m,d);...
Problem resolved. The mistake was that there was a massless frame attached to the end effectors.
Hey, We generated the xml using a urdf file. When we are trying to see the angular momentum being calculated, its coming out as 'nan' for all the...
Hello, I have been looking into crb and cinert variable in the mujoco model. The documentation shows that crb is returning the mass and composite...
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