From 3dac8f0cdd8d75f2d5b34dc77d81ff1bb22875ed Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Thu, 15 Nov 2018 09:57:48 +0100
Subject: [PATCH] Fixed position controllers by adding default frictionloss
---
VirtualRobot/XML/mjcf/MujocoIO.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/VirtualRobot/XML/mjcf/MujocoIO.cpp b/VirtualRobot/XML/mjcf/MujocoIO.cpp
index 9ffed7afd..38c702755 100644
--- a/VirtualRobot/XML/mjcf/MujocoIO.cpp
+++ b/VirtualRobot/XML/mjcf/MujocoIO.cpp
@@ -120,6 +120,9 @@ void MujocoIO::makeDefaultsGroup()
comment << "Add default values for " << robot->getName() << " here.";
defaultsClass->InsertFirstChild(document->NewComment(comment.str().c_str()));
+ document->addDefaultAttr(defaultsClass, "joint", "frictionloss", 1);
+ document->addDefaultAttr(defaultsClass, "joint", "damping", 0);
+ document->addDefaultAttr(defaultsClass, "geom", "condim", 4);
document->addDefaultAttr(defaultsClass, "position", "kp", 1);
document->addDefaultAttr(defaultsClass, "velocity", "kv", 1);
}
--
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