Simulation of pneumatic non-prehensile manipulation

[kidpaul94]

Intro

Hi!

I am a graduate student, and I use MuJoCo for my research on robotics.

My setup

I'm currently using Python version of MuJoCo (version: 3.1.6) on my Ubuntu 22.04.

My question

My question is: would it be possible to simulate pneumatic non-prehensile manipulation (e.g., air blowing) by a robot using particle objects in MuJoCo? I also wonder whether it is compatible with dm_control.

Specifically, I'm trying to simulate a robot that keeps blowing air (i.e., shooting particles) to move dust, which should be also modeled as particles, to a specific position.

So, I believe both air and dust have to be modeled as particles, while the air particles have to be removed at some point since the blowing action will be continued until the robot finishes its job.

I've tried to search for some examples or code code snippets, but had no luck.

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.

[yuvaltassa]

Unfortunately there are no examples for this yet, but this is exactly what mj_recompile is meant for: objects that appear / disappear in the scene during a simulation.