Contact Plugin

[ryznir]

Intro

Hi!

I am a graduate researcher at CWRU, I use MuJoCo for my research on hexapod robots.

My setup

I'm using MuJoCo version 3.3.7 on python 3.12 with both linux and windows.

My question

I want to build a plugin that changes ground contact physics to replace them with my own contact equations based on mesh geometry. How would I start this?

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[quagla]

Are you thinking of using new contact constraints in the mujoco solver or passive forces? Or replacing the solver altogether?

[ryznir]

I have forces that are calculated based on how the robot moves below a plane. So ideally they are instead of regular contacts. Like I would like to set a plane to use that type of contact for bodies hitting it

[ryznir]

And have it work in the passive viewer