Changing half-cheetah or Ant configs

Discussion in 'Simulation' started by R Fa, Apr 30, 2019.

  1. Hi,

    I was wondering what is the right way to change cheetah configuration such that it cannot apply torques to a joint? or simply to disable a joint of cheetah during simulation? In addation, how about making Ant to have a crippled leg?
    Want to do something similar to experiments in (Check out figure 2)
    Any examples or links would be great help.
    Last edited: Apr 30, 2019
  2. You cannot remove actuators from the model during runtime.
    You could for example alter the joint friction during runtime to a very high value in order to simulate a "crippled leg".
    Another approach would be to add constraints that are disabled by default and enable them during simulation.