Raise not implemented for frictionloss for now. #1344

PiperOrigin-RevId: 602453907 Change-Id: Ib1edc8820ddf55ee75b67593b59f72faf34bd237
google-deepmind · Jan 29, 2024 · 022b235 · 022b235
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diff --git a/google_barkour_vb/README.md b/google_barkour_vb/README.md
@@ -20,6 +20,7 @@ A version of the Barkour vB for use in [MJX](https://mujoco.readthedocs.io/en/st
 
 * The solver `iterations` and `ls_iterations` are modified for performance.
 * The `eulerdamp` flag is disabled.
+* Frictionloss is removed.
 * Collision geometries are only enabled between the feet and the plane.
 
 ## License

diff --git a/google_barkour_vb/barkour_vb_mjx.xml b/google_barkour_vb/barkour_vb_mjx.xml
@@ -22,7 +22,7 @@
         <site group="0"/>
       </default>
 
-      <joint damping="0.024" frictionloss="0.13" armature="0.011"/>
+      <joint damping="0.024" armature="0.011"/>
       <general forcerange="-18 18" biastype="affine" gainprm="50 0 0" biasprm="0 -50 -0.5"/>
       <default class="bkvb/abduction">
         <joint range="-1.0472 1.0472"/>