Adapting the Mujoco model to enable drifting #59
silverjoda
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Thanks so much for letting us know @silverjoda - I've created an issue for it and we will work on integrating your solution. |
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Dear Mushr team,
I'm currently working with a student on a sim-to-real project for a buggy car and recently came across the
Mujoco model that you have in your project. I had issues trying to make it drift (wheel slip) so I opened a issue on the mujoco
github page, where the authors were kind enough to help me solve my issue so I am here to inform of a subtle problem that exists with the model, and also how to set parameters of the model so that one can do drifts with it.
The issue:
If you lower the wheel friction then the car starts to exhibit strange behavior. This is caused by the following:
The solution:
If anyone is interested, here is the modified models directory that you can just copy paste into the package. I suggest using the mujoco "simulate" binary which you can just run and then click and drop the one_car.xml model into the simulation, press "c" to see contacts and use the sliding bar for actuation.
models.zip
output.mp4
Thanks, T
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