mujoco
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google-deepmind
Feature request - Proximity queries
I was wondering if we currently have something akin to the distance and collision queries supported by Bullet [1] (e.g. getContactPoints, getClosestPoints). Is there any documentation on something equivalent to that in MuJoCo or could that be a potential feature to be implemented in the future? Many thanks for the presentation at CoRL!
[1] - https://docs.google.com/document/u/0/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/mobilebasic#h.hrpbzrwzgy1p
Hi, thanks for input!
Regarding getContactPoints, simply iterate over the data->contact array to read out the contact points that have been found in the last call to the dynamics.
Regarding getClosestPoints, finding the distance and/or contact point between two arbitrary geoms -- independently of the dynamics -- there is no easy way to do this with the current API, but we can fairly easily add that. I've marked this as a feature request and will update here when we have something.
simply iterate over the
data->contactarray to read out the contact points
Hello. In what function or part of the cc file would you do this?
I've tried to print out a lot of the data with d-> or m-> and I get Segmentation fault (core dumped)
May I ask has there have been any updates on finding the distance between two arbitrary geoms? Thank you!
