Hey,

Amazing work!

I am trying to integrate the same with Xarm in my environment. I am facing an issue with the mj_integratePose line in the "diffik_nullspcae.py". My data.nv is of size 20 and data.nq is 19, out of which I just need only the first 7 joints. I am able to calculate the jacobian but while running the integratepose function, there is a size mismatch(as the arguments takes "model", q,qdot,dt).
Can you please suggest what can be done to avoid this?

Thanks!

Hi!

The absence of import mujoco.viewer will trigger the following error:

    with mujoco.viewer.launch_passive(
AttributeError: module 'mujoco' has no attribute 'viewer'

Good afternoon, Kevin! Thank you very much for your materials on GitHub. If I may, I would like to ask you a small issue about the differential kinematics in the diffik.py file. I tried to experiment with the frequency parameter of the test circle trajectory. When increasing the frequency from 0.5 in your example to 1, the circle described by the mocap element begins to diverge from the reference one. Could you tell me what caused this? Do I understand correctly that by changing the frequency you can change the speed of the robot moving in a circle? And I also noticed that changing the gains for the twist computation coefficients > 1 improves the situation, but in the comments you indicated that they cannot be greater than 1. Could you also tell me where I can see their physical meaning? Thanks in advance, best regards, Anton.

Hi,
I am trying to use your codebase to control XArm robot. Its XML is here. When I run diffik_nullspace.py after changing the path to XArm7 here, I get the error here.

operands could not be broadcast together with shapes (13,) (7,) 

There are few discrepancies that I noticed:

1. jac = np.zeros((6, model.nv)) here. My model.nv is 13. I guess it should be rather 7 (== degree of freedom).
2. q0 = model.key(key_name).qpos here. q0's shape is (13,) even though I feel it should be (7,).

Am I interpreting anything wrong?

Hi Kevin,

First off, thanks for making these controllers available to the community!

The examples all run smoothly on my Macbook, however, i'd like to know how you got the mouse control working in the MuJoCo Viewer Window? (specifically for dragging things around like you show in your README demos)

I've started learning MuJoCo recently, and any guidance here will be greatly appreciated : )

-- Jonathan