From 022b23591f6dc6e24527327cf7ff01b3459a5d3f Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Mon, 29 Jan 2024 11:44:38 -0800
Subject: [PATCH] Raise not implemented for frictionloss for now. #1344

PiperOrigin-RevId: 602453907
Change-Id: Ib1edc8820ddf55ee75b67593b59f72faf34bd237
---
 google_barkour_vb/README.md          | 1 +
 google_barkour_vb/barkour_vb_mjx.xml | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/google_barkour_vb/README.md b/google_barkour_vb/README.md
index 920b344f..902a9fcd 100644
--- 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
index 71f97506..46ae0882 100644
--- 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"/>