Yuval Tassa
Yuval Tassa
Currently there is no mechanism in MuJoCo for locking (a.k.a, sleeping, freezing) degrees-of-freedom. This is important for e.g. simulating large scenes. This could be implemented either at the level of...
MuJoCo uses `libCCD` for collision detection, but currently only uses the [`MPR`](https://en.wikipedia.org/wiki/Minkowski_Portal_Refinement) algorithm, while `libCCD` also contains and implementation for [`GJK`](https://en.wikipedia.org/wiki/Gilbert%E2%80%93Johnson%E2%80%93Keerthi_distance_algorithm). It would be interesting to compare these two.
Hi CoACD! Yuval here from the MuJoCo dev team. Like many others, we are really impressed by CoACD outputs and are enthusiastically [recommending](https://github.com/google-deepmind/mujoco/issues/1352#issuecomment-1904114997) it to our users at every opportunity....
Have you considered a version of CoACD that uses pure tetrahedral decomposition? Tets are, after all, the quintessential convex mesh 🙂. Tetrahedral meshes have a strong Finite Element theory supporting...
As we attempt to integrate CoACD with MuJoCo, we found that we do not understand how to enable deterministic operation. The [params struct](https://github.com/SarahWeiii/CoACD/blob/fce9d0f63adcb8aae62dae83cd35ebd86645760c/src/config.h#L51) has a `seed` attribute (defaulting to 1234),...
Hi CoACD, I'd like to describe two common issues that we encounter with collisions between adjacent sub-meshes, and propose two related feature that will address one or both of them....
### Intro MuJoCo dev, opening a bug following [comment](https://github.com/RobotLocomotion/drake/issues/21666#issuecomment-2419684373) by @SeanCurtis-TRI ### My setup N/A ### What's happening? What did you expect? TL;DR @SeanCurtis-TRI is saying: 1. The convex mesh...
https://github.com/google-deepmind/mujoco/commit/4086261714d7cfbc1745d4c6cb0aa2116df45312 https://github.com/google-deepmind/mujoco/issues/2585#issuecomment-3473495118