Online adaptation of friciton parameters

Discussion in 'Simulation' started by florianw, Jul 6, 2018.

  1. I am alternating the three dimensional friction parameters of my geoms online.
    I know how mujoco creates the contact friction parameters (5D) from each of the geoms friction values (elementwise max).

    I tried to set large values for the geom friction parameters to make sure they appear in the contact friction parameter. Unfortunately the setting of the geom friction parameters during simulation has no effect on the contact friciton.

    Any clue what I am doing wrong?