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dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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Contact for the wheel object #76

Open engineermind opened 1 year ago

engineermind commented 1 year ago

Hi,

Impressive simulator. Using API, is it possible to make a contact for the wheel object or the circle? I saw a sphere(point), capsule, cube in examples.

Thanks in advance.

janbruedigam commented 1 year ago

Depends a bit on what you mean exactly. For a purely 2D example, you could just use the sphere. In 3D, a circle doesn't work as it would be infinitely thin and therefore massless. If you mean a tire, that would be a bit more complex, but could be very roughly modelled by a cylinder or a torus. But we currently don't have a contact model for either. Note that you can change the inertia of objects, so you could use a sphere as a tire if, for example, the lean angle of a car or bike isn't too large.