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Florian Patzelt edited this page Mar 20, 2023
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This wiki documents how to use mujoco_contact_surfaces and mujoco_contact_surface_sensors.
mujoco_contact_surfaces is a mujoco_ros plugin that extends mujocos contacts with hydroelastic contact surface from the drake simulator.
mujoco_contact_surface_sensors extends mujoco_contact_surfaces and implements tactile sensors that use the pressure computed in the hydroelastic contact surfaces.