Fix joint of mujoco xml file to certain angle

openai / mujoco-py

MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.

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Fix joint of mujoco xml file to certain angle #543

Open andreasbinder opened 4 years ago

andreasbinder commented 4 years ago

I have a model of a snake-like robot and wanted to train it under suboptimality. To do so, I wanted to fix one joint that connects the body parts to a certain angle. I was wondering which way is the best or recommended one. This might work be setting the action space for the one joint to zero but I am not sure where to perform that. I am grateful to get some ideas! Currently, I am using the baselines implementation of baselines to get trajectories.

wukongwong commented 4 months ago

Did you find the solution of this? I found there is no "fixed" option in the joint type in xml.

andreasbinder commented 4 months ago

Hi, I actually did not continue looking into it :( I think restricting angles etc should be possible. Good luck!