Applying contact and collision

Discussion in 'Modeling' started by Coding Cat, Jun 25, 2018.

  1. Is there a way to explicitly state the contacts/collision constraints in the xml file? I would like to do two things with these constraints:

    1. let two geoms never penetrate into each other (e.g. foot and floor)

    2. when the foot is on the ground, do not slide.

    Any help is appreciated!
  2. Hi,

    Not sure about your 1st question, but 2nd you can do by changing friction of foot geom if that what you want. You can check more about that in modeling documentation near "geom".
  3. Thanks for your reply. The questions are about how to make it physically valid after setting qpos. When I set qpos, it will not obey physics anymore. The model will penetrate the ground, and the foot will not touch the ground. I am curious on whether I can force the physics laws being obeyed at the first position. Is it doable?
  4. There might be a mistake in your .xml file. They shouldn't just penetrate each other. Maybe you can share your .xml?