Help with composite objects

[abhiyanthrik]

Hi,

I'm a robotics engineer and I'm trying to use MuJoCo to simulate composite materials with the Viper X manipulator from Interbotix. I am fairly new to the MuJoCo simulator and facing some issues. Following are the details-

The idea is to do some pick-and-place kinda actions on deformable objects with simple geometry like spheres and ellipsoids using a manipulator. I am considering "composite objects" to simulate deformable objects. When I bring either the manipulator or the composite object in the simulation, everything goes fine, but when I try to bring both, I get an error saying *Error: mass and inertia of moving bodies must be larger than mjMINVAL*

Following is the MJCF structure I am using Master file (simulation.xml) ```XML ``` Manipulator (manipulator.xml) ```XML ``` Composite material (composite.xml) ```XML ```

Here are the screenshots of how things going:

While launching only manipulator

while launching only composite object (very small as I am planning for many small objects to pick)

Error when including both in the simulation

I have tried changing parameters like mass, geoms, type etc. I tried looking in the documentation but was not able to find anything useful.

I hope my query is clear. Hoping to get a solution.

Regards, Rohit

[abhiyanthrik]

Would someone please help me with this? I am not finding a way out of it and confused.

[yuvaltassa]

This is odd. We'll take a look.