I’ve implemented my functionality via the ZMQ API. I now have a few new questions: I want my end-effector gripper to interact with the ring in the environment. How should I set this up—should I use collision detection or some other approach? Thanks again for your help. Lastly, here is the link to my new scene.
https://github.com/wobushixiaozhu/NEW_DVRK_ARM.git
How to make robots interact with the environment using the Mujoco physics engine？
Re: How to make robots interact with the environment using the Mujoco physics engine？
Hello,
firtst of all your rings should be dynamically enabled and respondable. Currently, your rings are static.
Then, make sure your rings are convex (or convex composites), otherwise you'll have stability problems. Best is probably to approximate your rings as 8 cuboids (the visual part can stay same, just the underlying dynamic objects should be convex composites)
Cheers
firtst of all your rings should be dynamically enabled and respondable. Currently, your rings are static.
Then, make sure your rings are convex (or convex composites), otherwise you'll have stability problems. Best is probably to approximate your rings as 8 cuboids (the visual part can stay same, just the underlying dynamic objects should be convex composites)
Cheers