Hi What options do we have if we want to fix some part of a body in the air? For example, I want to fix the trunk of fully-humanoid such that he never falls down. I prefer to do it without adding new geoms/joints such that shape of state and action space doesn't change. Any ideas on how to do that? Cheers Amin
The simplest way is to comment out the free joint between the torso and the world -- then the torso is fixed. Or, you could connect the torso to the world with a weld equality constraint -- which is soft and can also be disabled at runtime if you want to free the robot.