Benchmarking Rigid Body Contact Models

Michelle Guo¹, Yifeng Jiang¹, Andrew Everett Spielberg², Jiajun Wu¹, C. Karen Liu¹

¹Stanford University, ²Harvard University

L4DC 2023

Materials

SysID-MuJoCo

friction: 0.25

friction: 0.50

restitution: 0.25

restitution: 0.50

Jiang et al.

friction: 0.25

friction: 0.50

restitution: 0.25

restitution: 0.50

GNN

friction: 0.25

friction: 0.50

restitution: 0.25

restitution: 0.50

Geometric Complexity

SysID-MuJoCo

4 faces

8 faces

12 faces

20 faces

GNN

4 faces

8 faces

12 faces

20 faces

Multi-Body

SysID-MuJoCo

2 bodies

3 bodies

4 bodies

5 bodies

GNN

2 bodies

3 bodies

4 bodies

5 bodies