Custom dynamics utilization with contact simulation #2626
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sentojh
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Intro
Hi!
I am a graduate student majoring in Mechanical Engineering. I use MuJoCo for my research on the force control of robot manipulators.
My setup
Currently, I use the Python package of MuJoCo in Window OS. (Python version: 3.10, Mujoco version: 3.3.2)
My question
So, my question is whether there is any way to set the dynamic parameters in mujco (especially mjdata.qM and mjdata.qfrc_bias) as my custom dynamic parameter during contact? (Since I want to test my own dynamics algorithm in a force control scenario, the dynamics result differs from the inherent result in mujoco supports.)
In free motion (without contact), it is okay, but if I contact the robot manipulator's end-effector with other environment geometry, the "FactorizeHessian: rank-deficient sparse Hessian" error directly occurs when the contact is initiated.
Below is my control loop. The self.robot is another class where I implemented for my own dynamics algorithm. So I override the variables in mujoco (qM and qfrc_bias) to my computation, and then update.
However, ``mujoco.FatalError: FactorizeHessian: rank-deficient sparse Hessian'' error has occurred.
Is there any way to set custom dynamics, but use internal contact solver in MuJoCo in a stable manner... I cannot change the variables in a consistent way to my own dynamic parameters in the QP solver for contact resolution.
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