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 dependenciesFor 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
If you are using this repository in your reasearch, please cite the following works in your publications accordingly:
@online{
leinsHydroelasticTouchSimulationTactile2025,
title = {{{HydroelasticTouch}}: {{Simulation}} of {{Tactile Sensors}} with {{Hydroelastic Contact Surfaces}}},
shorttitle = {{{HydroelasticTouch}}},
author = {Leins, David P. and Patzelt, Florian and Haschke, Robert},
date = {2025-01-14},
eprint = {2501.08077},
eprinttype = {arXiv},
eprintclass = {cs},
doi = {10.48550/arXiv.2501.08077},
url = {http://arxiv.org/abs/2501.08077},
pubstate = {prepublished},
}
@inproceedings{
leinsMuJoCoROSIntegrating2025,
title = {{{MuJoCo ROS}}: {{Integrating ROS}} with the {{MuJoCo}} Engine for Accurate and Scalable Robotic Simulation},
booktitle = {2025 {{IEEE}} International Conference on Simulation, Modeling, and Programming for Autonomous Robots ({{SIMPAR}})},
author = {Leins, David P. and Haschke, Robert and Ritter, Helge},
date = {2025},
publisher = {IEEE. in press}
}
@inproceedings{
patzeltCurvedTactileSensor2023,
title = {Curved {{Tactile Sensor Simulation}} with {{Hydroelastic Contacts}} in {{MuJoCo}}},
author = {Patzelt, Florian and Leins, David and Haschke, Robert},
year = {2023},
booktitle = {NeurIPS 2023 Workshop on Touch Processing: a new Sensing Modality for AI},
url = {https://www.touchprocessing.org/2023/#accepted-papers},
}
@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}
}This plugin can also be used to simulate tactile sensor arrays like the Myrmex sensor.