MJX: Advice on what might be causing mesh humanoid foot slipping #1942
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areiner222
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Hi @areiner222 , here are a couple of suggestions:
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Hi,
I'm trying to use MuJoCo - MJX for humanoid imitation learning, and looking for some advice on some foot sliding/hopping I'm experiencing.
I've noticed that this occurs with some orientations of the foot and hoping to get a gut reaction on if I could tune anything specifically to improve this?
I'm building a mujoco model based on the SMPL-X mesh whereby I do body part segmentation followed by using coacd to further decompose the body part meshes to be approximately convex.
I've attached a video of the behavior:
https://github.com/user-attachments/assets/0fed3ec9-867e-4461-9912-36f270f95157
I've experimented with a wide range of impratios (not totally sure if this is the right way to go) and the behavior persists.
Appreciate any advice including if I should be reconsidering how I represent the foot mesh! (have considered using primitives instead but since I build the mesh on the fly with the smpl shape parameters I think I'd have to functionally map the mesh to the scale of the primitive collection - probably doable but have not thought through).
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