I want to simulate as accurate as possible the collision interaction between a rigid cylindrical hole and a rigid cylindrical peg. I tried Mujoco and PyBullet and both simulators first require doing a decomposition of the concave hole into the union of convex parts.

Is there any high accuracy algorithm/simulator for doing this collision computation?

  • If they are rigid is not enough to solve the problem analytically? – nicoguaro Nov 7 at 16:22

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