Correct value of friction to reduce sliding and match real-world model.

Discussion in 'Simulation' started by rachana_s, Mar 16, 2017.

  1. Hi,

    I am rolling a ball around an inclined plane with a circular wall on it. I am trying to match the oscillations and positions of the ball with the a similar real-life model. However, I've observed that when I try to match the positions in MuJoCo by changing the friction values, I end up using very low values and having such a low sliding friction creates a lot of sliding and slip. For instance, when the ball isn't moving, it still keeps rotating in place. Increasing the friction reduces the slip but the MuJoCo ball doesn't match the real one.
    It'll be great if you could point out if I'm missing something or how to arrive at the right friction.
    Below are my current values of other related parameters:
    o_solref = 0.005 1
    impratio = 3
    solver = PGS
    friction of the ball = 0.001 0.00005 0.00005
    friction of the plane = 0.045 0.00005 0.00005
    friction of the circular wall = 0.005 0.00005 0.00005

    MuJoCoForum Screenshot.PNG

    Thank you.
  2. Did you figure this out?