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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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Non-holonimic contstraints in py-mujoco/mujoco. It is possible? #740

Closed nor-code closed 1 year ago

nor-code commented 1 year ago

Hi there! @machinaut @jonasschneider

Can i described non-holonimic constraints in mujoco? For example, there are the spherical shell inside which move a wheel. I want that wheel and shell in contact point have the same velocity. In other word, wheel must move inside shell without slipping.

And as saying in documentation : "The solver can actually work with non-holonomic constraints as well, but we do not yet have such constraint types defined. " It turns out that there are no tags to describe such constraints? Is there any way to set these constraints? I would be very grateful if you could give me an example!

pic and equation(v - velocity) below Снимок экрана от 2022-08-21 15-11-15 plane_case

YouJiacheng commented 1 year ago

This project is actually unmaintained. DeepMind, the owner of mujoco, has released their official mujoco python binding in https://github.com/deepmind/mujoco/tree/main/python.