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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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Creating a granular environment for robot locomotion #1158

Closed jwcho0609 closed 9 months ago

jwcho0609 commented 10 months ago

Hello,

I'm a student and I'm trying to use MuJoCo for simulating a robot locomotion task. Specifically, I am interested in locomotion in a granular terrain, where the particle sizes are represented as spheres approximately 1mm in diameter. Is discrete element method simulation something that can be implemented in MuJoCo?

Any help would be appreciated, thank you.

yuvaltassa commented 9 months ago

Does the particle composite not do what you want?

model

screen capture