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I have tried to change the iterator and the timestep, and while these did allow me to put a bit more force through the actuators, I still could not actuate the wings enough (without the simulation running way too slow), so I have changed my model away from large flexcomps as a way to prevent divergence since it seemed they might have caused my model to be too instable. |
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Hi,
I am a master student using MuJoCo for my masters thesis in which I am building a model for a manta ray inspired robot:
In order to model the wings in a way that is similar to the real animal, I have decided to make use of flexcomps. For the actuation of the wings, I am using a similar technique as put forward in issue #2014. I have defined sites in the bodies generated by the flexcomp and I have added tendons in between those sites in order to be able to move the wings up (or down) by contracting the tendons.
This seems to work as intended when exerting small forces on the actuators, however if I contract the tendons with too big a force in the simulate tool, I get the following warning as the simulation resets:
What could the cause of this warning be in my case? Right now the flexcomps of the wings are built using a direct flexcomp that makes a grid like structure with two layers of points. Could more layers in the wings solve the issue I am running into? Or are there any other possible solutions I might want to explore?
I have attached the full xml-file below if anyone is interested, but it is still very much a work in progress.
xml file
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