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Hi, you are right and there is currently no way of doing that as far as I know.. |
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I see! Do you have any recommendations on how we can apply friction as elegantly as possible? We are thinking both locomotion and manipulation origami structures. That would imply friction on a random body as well as on the ground. The best solution I have is to attach the small geom elements as I mentioned before 😅 Thanks!! |
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Hi,
I'm a grad student trying to model deformable objects in mujoco using flex. I have a few questions about friction in flex bodies.
I will use the following code and the attached video to ground my discussion:
So iiuc, the bodies we define to be used in tags, have some mass and will fall down if initialized in the air with a freejoint. However, they don't seem to obey friction laws unless I attach small < geom >s to the bodies that can take care of friction.
Is there a way to define some friction properties so that purely deformable bodies can interact with the ground? e.g. stop rotating on the plane after applying some force by mouse-dragging as can not be seen from the video below?
TLDR: Flex bodies keep rolling on the ground for infinity once an initial force is applied. Is there a way to make them obey friction without adding tiny < geom > objects to the vertices?
Screen.Recording.2024-06-16.at.1.13.19.PM.mov
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