Mujoco Nonlinear Passive Joint Example

(ChatGPT helped generate the README).

This repository provides a demonstration of how to set nonlinear passive joint properties in mujoco. This can be useful for accurately modeling the behavior of joints that do not follow a linear relationship between torque and angle, such as those with elastic or damping characteristics that change with displacement or velocity.

Table of Contents

• Nonlinear Passive Joint Properties
  • Table of Contents
  • Getting Started
    • Installation
    • Usage

Getting Started

Installation

Clone the repository to your local machine:

git clone https://github.com/JedMuff/nonlinear-passive-joint-properties.git
cd nonlinear-passive-joint-properties

Install the required Python packages:

pip install -r requirements.txt

Usage

The main script to demonstrate setting nonlinear passive joint properties is demo.py. You can run it as follows: python demo.py