Does mujoco have any function to calculate the JacDot of body(site or something else)?
in my model, it has only a body (pelvis) with freejoint i suppose that the mean of qpos[3:7] is (w, x, y, z) but RPY from it is not the same with...
i have a geom "foot"(condim=3), slide friction=0.7, i calculate the wrench from the contact force F=sigma(Fi) M=sigma(cross(Fi, com - pi)) where...
Thanks for your reply, but i still meet problem about this equation: M * qacc + qfrc_bias not equal to data.qfrc_passive + data.qfrc_actuator +...
[ATTACH] while the dimension of data.qM in code is nM*1, how to convert it into nv*nv?
Thank you!
I use mujoco_py(mujoco 150). Does any one know how to dynamically set the position of a body with freejoint? sim.data.body_pos = ? only works for...
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