Question about Contact Force Pipeline #2750
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TurtleCamera
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Intro
Recent M.S. graduate using MuJoCo for personal use.
My setup
MuJoCo 3.3.4, C, x64-based PC, Windows 11
My question
Hi, I don't have a problem with using MuJoCo in particular, but I wanted to understand parts of the source code. Specifically, could someone explain the parts of the C code that compute contact forces, especially the parts where the solimp parameter is involved? I see a function called "mj_constraintUpdate_impl" that seems to compute forces in the loop below, but I'm unsure what are D and jar and where they are populated.
// compute unconstrained efc_force
for (int i=0; i < nefc; i++) {
force[i] = -D[i]*jar[i];
}
I've also included a minimal model below. In this model, a box (all solimp parameters set to 0) falls through the plane (default solimp parameters). After reaching the max penetration width of 0.001, the visualizer displays 19.6 as the contact force for each corner of the box. If you could also explain how this value is computed, that would help a lot. Thanks in advance!
Minimal model and/or code that explain my question
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