PhysX, Bullet & MuJoCo Contact Dynamics, Friction Cones & Mechanical Compliance

Benchmarking non-linear contact dynamics, Coulomb friction cones, and soft-body compliance to replicate physical robotic behaviors.

Non-Linear Contact Dynamics and Solvers

RoboticDigitalTwins compares Projected Gauss-Seidel (PGS) and semi-implicit friction solvers in PhysX and MuJoCo. By modeling micro-deformations in rubber wheels and gripper pads, the simulation captures realistic wheel slip and stick-slip transitions.

Actuator Bandwidth and Gear Backlash Simulation

Simulated robots do not operate as idealized rigid bodies. Actuator sub-models incorporate motor winding inductance, encoder quantization, harmonic drive backlash, and structural flexing, reproducing real-world vibrations.

PhysX 5 and MuJoCo contact dynamics benchmarked against physical load cells
Anisotropic Coulomb friction modeling for varied floor surfaces
Actuator harmonic drive backlash and gear compliance simulation
Microsecond simulation time-stepping for high-bandwidth feedback loops

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