README.md

mujoco_contact_surfaces

Implementation of hydroelastic contact surfaces as a mujoco plugin. This plugin can be used with https://github.com/ubi-agni/mujoco_ros_pkgs.

# Download and extract Drake
cd <folder to install drake into>
curl -SL https://github.com/RobotLocomotion/drake/releases/download/v1.8.0/drake-20220919-focal.tar.gz | tar -xz
export drake_DIR=$PWD/drake  # Tell cmake where to find Drake
sudo drake/share/drake/setup/install_prereqs  # Install Drake dependencies

Hydroelastic contact surfaces

For more information refer to:

• https://drake.mit.edu/
• Hydroelastic Contact in Drake Blog Post
• https://arxiv.org/pdf/1904.11433.pdf
• https://arxiv.org/pdf/2110.04157.pdf

Cite

If you are using this repository in your reasearch, please cite the following in your publications:

@inproceedings{
    leins2023more,
    title={More Accurate Tactile Sensor Simulation with Hydroelastic Contacts in MuJoCo},
    author={David Leins and Florian Patzelt and Robert Haschke},
    booktitle={IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
    year={2023},
    url={https://openreview.net/forum?id=gCdemyFIVe}
}

Tactile sensor simulation

This plugin can also be used to simulate tactile sensor arrays like the Myrmex sensor.

myrmex_demo.mp4