Wrong contact behavior with stl models

Discussion in 'Simulation' started by Marian K., Jun 19, 2020.

  1. Hi all,

    I'm trying to setup a draping simulation of textiles. Therefore I need a plate with a hole and a rigid body that go through that hole. Unfortunatly the simulation doesn't consider that hole and assumes my stl model as simple box.

    What's wrong with my model?


    Attached Files:

  2. MuJoCo uses the convex hull to compute contact: http://www.mujoco.org/book/computation.html#Collision

    So your hole is simply ignored. You can view this convex hull in `./simulate`.

    I'm not sure how you could work around this. As I said in another thread, you could approximate the shape with a square hole, composed from four blocks.


    Attached Files:

  3. Hi Roboert,

    thanks a lot for your help. I solved it with 32 blocks that almost form a nice circle. As the name Convex Hull says, MuJoCo is creating convex geometries for the contact model, but no concave ones.