How to Enable Two Hinge Joints with Different Friction in MuJoCo? #2431
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IntroHi! I am a Master's student at the University of Naples Federico II, and I am using MuJoCo for my thesis My setupMuJoCo version: 3.2.6 My questionI need to add two joints to allow a body to oscillate along two directions, but I also need to have different friction values for each joint. However, with the current setup, only the first joint works, regardless of the order in which they are defined. Minimal model and/or code that explain my question<mujoco>
<worldbody>
<body name="CB" pos="0 0 5" euler="0 0 0">
<joint name="y" type="hinge" axis="0 1 0" range="-0.6 0.6 " damping="485.3" frictionloss="0.767"/>
<joint name="x" type="hinge" axis="1 0 0" range="-0.6 0.6 " damping="52.7" frictionloss="0"/>
<inertial pos="0 0 -0.5" mass="0.1" quat="1 0 0 0" diaginertia="0.01167 0.01167 0.01"/>
</body>
</worldbody>
</mujoco>
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Replies: 1 comment
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Hello, I am a MuJoCo user. Hope the following helps: I have made the model a bit more legible by adding a light, a geometry, expanding the joint limits, and removing damping. I hope you can now observe the different friction loss values by loading the XML in the (Enable joint visualisation by pressing J and make the geom transparent with T. Double click to select the geom, Ctrl + right click to drag.) |
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Hello, I am a MuJoCo user. Hope the following helps:
I have made the model a bit more legible by adding a light, a geometry, expanding the joint limits, and removing damping.
I hope you can now observe the different friction loss values by loading the XML in the
simulateprogram.(Enable joint visualisation by pressing J and make the geom transparent with T. Double click to select the geom, Ctrl + right click to drag.)