Hi Amir, did you figure out this issue? My group is trying to use the touch sensor to measure contact force but it seems inaccurate.
Anyone has a good answer ? I'm struggling with a similar problem.
Thanks!
Hello all, I understand d->qfrc_applied as the generalized force/torque applied to the system, and d->ctrl as the input to the actuator model...
Hello, What is the best way to get center of mass Jacobian? My best technique is to use the following expression, using the fact that x_COM =...
Where can I find walker2d.xml ?
Great, thank you so much!!
It is given a 3D point and a MuJoCo body to which this point is considered to be attached. - documentation does it consider the 3D point with...
As far as I believe, ... Jx = dx/dq dot Jx = dot [ dx/dq] = d/dq [ dot x] = d/dq [v] = Jv (define v = dot x, define dot = d/dt) Thus take...
Thank you for the reply!
Thank you!
Understand. Which libraries do you recommend? I'm considering EIGEN for math operations and NLOPT for optimization solver, but very curious...
Hello, Emo, Although we have a nice documentation for MuJoCo, I think it is often confusing and hard to fully understand it. At this point, I...
void mj_jac(const mjModel* m,const mjData* d, mjtNum* jacp, mjtNum* jacr,const mjtNum point[3],int body); Hi all, The mj_jac has input arguments...
Hi all, I am looking for what are the most popular/ useful math libraries that would be compatible with MuJoCo, as for example, I want to...
'q' in qpos and qvel refer to the generalize coordinate. The order of q is also dependent on the joint id you specify in the .xml model. For the...
I would actually recommend you to take a look at the documentation and access qpos, qvel, or ctrl using something like the following expression...
resolved.
Hello, I believe skew symmetric matrix is largely used in robotics community, thus suggest to include a function such as mju_Vec2Skew(mjtNum...
Hi Sytham, did you resolve this issue? Also, in general, if I want to create a staircase which should be fixed to world body, should I create...
Separate names with a comma.