Get the centre of mass of flexcomp elements

[Nick20500]

Intro

Hi!

I am a undergrad student at ETH Zurich, I use MuJoCo for my research on Multimaterial deformable objects.

My setup

I use MuJoCo 3.2.3 with python bindings.

My question

In my scene I want to position the gripper at the height (Z-coordinate) of the centre of mass (COM) of the flexcomp object. In this example the object loaded is a bottle. Am I able to access the coordinates of the COM of the bottle somehow?

Minimal model and/or code that explain my question

No response

Confirmations

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• I searched previous Issues and Discussions, I am certain this has not been raised before.