Is joint damping setting (set in a URDF xml file) working in mujoco models?

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underactuated
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Joined: Tue Jul 24, 2018 7:45 pm

Is joint damping setting (set in a URDF xml file) working in mujoco models?

Post by underactuated »

I have tried to set the damping parameter for joints to various values from 1 to 100000, but observed no effect in simulations. Am I doing it correctly? I simply set it as default joint parameters inside a URDF model file:

Code: Select all

  <default>
    <joint armature="1" damping="100000" limited="false"/>
  </default>
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