Hi, I have created a simulation where a hand attempts to pick up a rectangular prism. The prism slips out of the hand even when force is applied. I saw in other threads that 1.40 and 1.50 could change solver parameters to elliptic to alleviate this, but I am working with mjpro131 in openai-gym. Is there any solution to this?
MuJoCo 1.31 has an elliptic solver which tends to reduce slip. You can also set the option 'impratio' to something larger than the default value of 1, say 10. See these sections of the documentation for more explanation (although they have been updated to 1.50): http://www.mujoco.org/book/index.html#Soft http://www.mujoco.org/book/modeling.html#CAlgorithms
I am currently using the following parameters <compiler angle="radian" meshdir="meshes/" /> <option timestep="0.003" solver="elliptic" impratio="10" tolerance="1e-10"/> <geom margin="0.001" solimp="0.98 0.99 .001" friction="0.8 0.8 10" /> The object is still slipping however. Do you have any advice?