How to tilt torso without moving leg #2116
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dkhor2003
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Intro
Hi!
I am a beginner using MuJoCo to do research on robotics.
My setup
My question
Hi,
I wanted tilt my torso front and back, and left and right. However, whenever I change the qpos value for the index 3 and 4 joints, the leg body changes as well. Is there any part in my xml file that I should change such that whenever I change qpos for the hinge joints of the torso, only the torso tilts, but not the leg. Also, whenever I change the qpos for the slide joints for the slide joints of the torso, the leg changes along with the torso.
Thanks,
Dylan.
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:
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