Unactuated Spring in MuJoCo #2091
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Something like ...
<body name="upper leg" pos="0 0 -0.1">
<joint name="hip_x" type="hinge" pos="0 0 0.1" axis="1 0 0" />
<joint name="hip_y" type="hinge" pos="0 0 0.1" axis="0 1 0" />
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0 0 -0.5" rgba="1 0 0 1"/>
<body name="lower leg" pos="0 0 -0.5">
<joint spring type="slide" stiffness="X" damping="Y"/>
<geom type="capsule" size="0.05 0.5" fromto="0 0 0 0 0 -0.5" rgba="1 0 0 0.1"/>
</body>
</body>
... |
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Intro
Hi!
I am a beginner in MuJoCo and Robotics, and I am trying to model the SLIP model in MuJoCo.
My setup
My question
This is my current model xml file. I wanted to use spatial tendon to simulate a spring for the leg of the SLIP model. However, when I drop it from a height, it doesn't look like it is bouncing continuously. Are there any advice on how I can make this work such that the model bounces continuously when dropped from a height and eventually stops? Thanks for any help provided!
Minimal model and/or code that explain my question
If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
Model:
minimal XML
Code:
Confirmations
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