Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Ground reaction forces sensed with a "sensor" instead of perfect readings from mjData. #4

Open
Danfoa opened this issue Jul 4, 2024 · 1 comment
Open

Ground reaction forces sensed with a "sensor" instead of perfect readings from mjData. #4

Danfoa opened this issue Jul 4, 2024 · 1 comment
Assignees
@Danfoa
Labels
enhancement New feature or request

Comments

@Danfoa
Copy link
Collaborator

Danfoa commented Jul 4, 2024

Introduce a force sensor at the specified feet Geom, such that ground reaction forces can be returned with noise/cutoff specified by user.
@Danfoa Danfoa self-assigned this Jul 4, 2024
@Danfoa Danfoa added the enhancement New feature or request label Jul 4, 2024
@Danfoa
Copy link
Collaborator Author

Danfoa commented Jul 8, 2024

There seems to be an issue with the computed GRF at the current version, for non-flat terrains the directions of the GRF are not appropriately computed.

See https://x.com/i/status/1810021312204607664

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@Danfoa Danfoa

Labels
enhancement New feature or request
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@Danfoa