Recent Content by Emo Todorov

  1. Emo Todorov
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    Best way to do inverse kinematics without taking simulation step or moving the robot

    Yes you can do it via simulation. Create a soft equality constraint between the end-effector and a mocap body, move the mocap body to the desired...
    Post by: Emo Todorov, Jun 30, 2020 in forum: Priority support
  2. Emo Todorov
    Post

    Best way to do inverse kinematics without taking simulation step or moving the robot

    You would have to implement your own optimization procedure (or some other method). There is no built-in functionality to support inverse...
    Post by: Emo Todorov, Jun 30, 2020 in forum: Priority support
  3. Emo Todorov
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    Best way to represent robots torque sensors

    The best way to do it is to look at mjData. All the forces acting on the joints are there. In particular, mjData.qfrc_unc is the sum of all...
    Post by: Emo Todorov, May 25, 2020 in forum: Priority support
  4. Emo Todorov
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    How do I limit the number of volumes in which shadows are cast?

    Yes, in general one can do a lot with lighting. MuJoCo exposes the fixed-function OpenGL lighting model essentially one-to-one.
    Post by: Emo Todorov, May 14, 2020 in forum: Priority support
  5. Emo Todorov
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    Most efficient way to calculate end-effector wrench

    1. body jacobians are a bit faster, but the difference is negligible. 2. yes you can define sites and get their jacobians. 3. there is no...
    Post by: Emo Todorov, May 12, 2020 in forum: Priority support
  6. Emo Todorov
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    Contacts seemingly not recorded?

    All contacts are in mjData.contact. If a contact is not there, it cannot generate force. How do you know the contacts are not there? The number...
    Post by: Emo Todorov, May 9, 2020 in forum: Priority support
  7. Emo Todorov
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    Most efficient way to calculate end-effector wrench

    In addition to what Florian said, you can use the body Jacobians to convert between joint forces to end-effector forces. One conversion is...
    Post by: Emo Todorov, May 7, 2020 in forum: Priority support
  8. Emo Todorov
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    Incremental compiler timeline

    Sometime in late Summer most likely.
    Post by: Emo Todorov, Apr 28, 2020 in forum: Priority support
  9. Emo Todorov
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    Can LT(Length of Tendon) have a negative value?

    Yes you can end up with negative LT if you apply the formulas. In real muscles this should never happen of course. But it can happen in the...
    Post by: Emo Todorov, Apr 22, 2020 in forum: Priority support
  10. Emo Todorov
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    Weird behavior when changing margin and gap to large numbers

    Yes this calculation can produce unexpected results for some geom pair types. Intuitively you would expect the geoms to be inflated somehow, but...
    Post by: Emo Todorov, Apr 22, 2020 in forum: Priority support
  11. Emo Todorov
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    How do I limit the number of volumes in which shadows are cast?

    Indeed you cannot control whether or not individual geoms cast shadows. You can control the properties of the light only.
    Post by: Emo Todorov, Apr 22, 2020 in forum: Priority support
  12. Emo Todorov
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    Need help to include arbitrary shapenet meshes in simulation

    Actually that particular interaction can happen in the real world if there is slip. Anyway, in general you should visualize the decomposition and...
    Post by: Emo Todorov, Apr 22, 2020 in forum: Priority support
  13. Emo Todorov
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    Wrong orientations for mesh geometries

    You cannot change the frame of a mesh geom for the same reason that you cannot change the frame of a cylinder geom: the whole point of the geom...
    Post by: Emo Todorov, Apr 22, 2020 in forum: Priority support
  14. Emo Todorov
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    Picking up a block with a gripper - Friction issues

    Friction value of 10 is very unrealistic, and results in counter-intuitive artifacts. It is better to keep it closer to 1. The solref and solimp...
    Post by: Emo Todorov, Feb 25, 2020 in forum: Priority support
  15. Emo Todorov
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    Disable visualization of anchor points

    There are many rendering flags that enable/disable various features. One of them is for constraints. To change the size, adjust the constraint...
    Post by: Emo Todorov, Feb 13, 2020 in forum: Priority support