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I'm a robotics engineer and I'm trying to use MuJoCo to simulate composite materials with the Viper X manipulator from Interbotix. I am fairly new to the MuJoCo simulator and facing some issues. Following are the details-
The idea is to do some pick-and-place kinda actions on deformable objects with simple geometry like spheres and ellipsoids using a manipulator. I am considering "composite objects" to simulate deformable objects. When I bring either the manipulator or the composite object in the simulation, everything goes fine, but when I try to bring both, I get an error saying
Error: mass and inertia of moving bodies must be larger than mjMINVAL
Hi,
I'm a robotics engineer and I'm trying to use MuJoCo to simulate composite materials with the Viper X manipulator from Interbotix. I am fairly new to the MuJoCo simulator and facing some issues. Following are the details-
The idea is to do some pick-and-place kinda actions on deformable objects with simple geometry like spheres and ellipsoids using a manipulator. I am considering "composite objects" to simulate deformable objects. When I bring either the manipulator or the composite object in the simulation, everything goes fine, but when I try to bring both, I get an error saying
Error: mass and inertia of moving bodies must be larger than mjMINVAL
Following is the MJCF structure I am using
Master file (simulation.xml)
Manipulator (manipulator.xml)
Composite material (composite.xml)
Here are the screenshots of how things going:
While launching only manipulator
![standalone-manipulator](https://private-user-images.githubusercontent.com/117035408/340570273-a4bbe3e0-0c61-426e-b87a-99d457a9d9f2.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA1ODAzNzMsIm5iZiI6MTcyMDU4MDA3MywicGF0aCI6Ii8xMTcwMzU0MDgvMzQwNTcwMjczLWE0YmJlM2UwLTBjNjEtNDI2ZS1iODdhLTk5ZDQ1N2E5ZDlmMi5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEwJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMFQwMjU0MzNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0yNWM4MmYyMzYxYzU4NjZlNTlmZTFmMjVhOTIwZDBmZjYzMTZhNWRkNDhjZTkwYjVlMjQ1YzE4ZGI4YzYwZTAwJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.x6msEFUbrfxEqxkiMV88xsb2UCj-kXZ5Ycnt8YSEv4Q)
while launching only composite object (very small as I am planning for many small objects to pick)
![standalone-composite](https://private-user-images.githubusercontent.com/117035408/340570920-384bb1ea-569e-4b2e-a3af-e396c41837ac.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA1ODAzNzMsIm5iZiI6MTcyMDU4MDA3MywicGF0aCI6Ii8xMTcwMzU0MDgvMzQwNTcwOTIwLTM4NGJiMWVhLTU2OWUtNGIyZS1hM2FmLWUzOTZjNDE4MzdhYy5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEwJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMFQwMjU0MzNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1jNTBlZTg0NmNhNjU3OWM1YTM1OThkNWY0ZDBjY2VlOGMwZTAwMzZkNzllNTBkYmYwYmY2N2EzOWY4ZjliYzY4JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.wSv_xWKYbwISMDfKXCwhUErkBzlXvB20EFCm2bXI5as)
Error when including both in the simulation
![error](https://private-user-images.githubusercontent.com/117035408/340571250-850ac45d-b806-4d79-b28e-3ef71261e86a.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjA1ODAzNzMsIm5iZiI6MTcyMDU4MDA3MywicGF0aCI6Ii8xMTcwMzU0MDgvMzQwNTcxMjUwLTg1MGFjNDVkLWI4MDYtNGQ3OS1iMjhlLTNlZjcxMjYxZTg2YS5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNzEwJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDcxMFQwMjU0MzNaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT0wMGEzNDMyODRkMTgyMWE1MzQxYjc2NzEzZTY0YzYyNDU0ZDJkZjJjYmZhZjc1MmExOGVjZDI1OTU3NzJhZjVjJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.9pAKcYb9VxFjHbm1iSGhlGZHGXkaw0k4Q73LBOuyzG0)
I have tried changing parameters like mass, geoms, type etc. I tried looking in the documentation but was not able to find anything useful.
I hope my query is clear. Hoping to get a solution.
Regards,
Rohit
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