how to realize compliance control

[hzy_sj]

hello

I am working on a scene that aims to realize compliance control of the robot, However, when the end of the effect contacts the object, the contact force measured by the force sensor rises very soon which is not match the real situation.

I hope changing the properties of the muJoco engine will help, But is there some manual that can help me to know how to change the properties of the engine?

Or are there other ways to change the Elastic modulus of the imported object to realize a more real simulation of the contact?

Thanks a lot!

Hzy

[coppelia]

Hello,

do you see similar force sensor readings with the other engines?

Also, each engine has its specific way of working, accuracy, etc. You can modify the engine specific properties for shapes by clicking Engine properties in the Shape dynamics dialog. Details on the meaning of all the displayed properties can be found in the engine's respective documentations.

Cheers