# Recent Content by Emo Todorov

1. Post

### Best way to do inverse kinematics without taking simulation step or moving the robot

Yes you can do it via simulation. Create a soft equality constraint between the end-effector and a mocap body, move the mocap body to the desired...
Post by: Emo Todorov, Jun 30, 2020 in forum: Support requests
2. Post

### Best way to do inverse kinematics without taking simulation step or moving the robot

You would have to implement your own optimization procedure (or some other method). There is no built-in functionality to support inverse...
Post by: Emo Todorov, Jun 30, 2020 in forum: Support requests
3. Post

### How do I limit the number of volumes in which shadows are cast?

Yes, in general one can do a lot with lighting. MuJoCo exposes the fixed-function OpenGL lighting model essentially one-to-one.
Post by: Emo Todorov, May 14, 2020 in forum: Support requests
4. Post

### Most efficient way to calculate end-effector wrench

1. body jacobians are a bit faster, but the difference is negligible. 2. yes you can define sites and get their jacobians. 3. there is no...
Post by: Emo Todorov, May 12, 2020 in forum: Support requests
5. Post

### Most efficient way to calculate end-effector wrench

In addition to what Florian said, you can use the body Jacobians to convert between joint forces to end-effector forces. One conversion is...
Post by: Emo Todorov, May 7, 2020 in forum: Support requests
6. Post

### Incremental compiler timeline

Sometime in late Summer most likely.
Post by: Emo Todorov, Apr 28, 2020 in forum: Support requests
7. Post

### Weird behavior when changing margin and gap to large numbers

Yes this calculation can produce unexpected results for some geom pair types. Intuitively you would expect the geoms to be inflated somehow, but...
Post by: Emo Todorov, Apr 22, 2020 in forum: Support requests
8. Post

### How do I limit the number of volumes in which shadows are cast?

Indeed you cannot control whether or not individual geoms cast shadows. You can control the properties of the light only.
Post by: Emo Todorov, Apr 22, 2020 in forum: Support requests
9. Post

### Need help to include arbitrary shapenet meshes in simulation

Actually that particular interaction can happen in the real world if there is slip. Anyway, in general you should visualize the decomposition and...
Post by: Emo Todorov, Apr 22, 2020 in forum: Support requests
10. Post

### Picking up a block with a gripper - Friction issues

Friction value of 10 is very unrealistic, and results in counter-intuitive artifacts. It is better to keep it closer to 1. The solref and solimp...
Post by: Emo Todorov, Feb 25, 2020 in forum: Support requests