Comments (1)
yuvaltassa
commented on May 19, 2024
4
Hi,
Anisotropic friction is tightly coupled to the specific collider used, as the collider determines the orientation of the contact frame. One usable collider for this purpose is capsule-plane, since the contact frame is always oriented along the capsule. Below is a minimal "ice skating" example:
<mujoco model="ice skate">
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="512" height="512"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<worldbody>
<geom name="floor" pos="0 0 0" size="5 5 .05" type="plane" material="grid"/>
<body name="leg" pos="0 0 .3">
<joint type="slide" axis="1 0 0"/>
<joint type="slide" axis="0 1 0"/>
<joint type="slide" axis="0 0 1"/>
<joint type="hinge" axis="0 0 1"/>
<light pos="0 0 2"/>
<geom name="shin" type="box" size=".03 .02 .2"/>
<geom name="skate" type="capsule" fromto=".02 0 -.25 .1 0 -.25" size=".02"/>
</body>
</worldbody>
<contact>
<pair name="non-isotropic" geom1="floor" geom2="skate" condim="3" friction="0.1 1"/>
</contact>
</mujoco>
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