combine soft body sim with other sim envs

[Konjak2e8]

It is said in the paper that we can combine any rigid simulator with the soft body simulator.I would like to combine the soft body simulator with mujoco. Could someone tell me how to achieve this? Thanks

[StoneT2000]

This would likely be highly non-trivial amount of engineering work to do that. Perhaps @fbxiang could summarize some helpful points

[fbxiang]

The principle to couple multiple simulators can be straightforward. You just need to repeat the following steps.

1. step simulator A
2. step simulator B
3. compute forces resulted from any interactions between simulator A and B
4. apply the forces to A and B

In practice it would require deep understanding of both simulators and quite a bit of work as described in the paper. If you really want to make your own coupled simulator, you could take the soft body environments in ManiSkill 2 as an example.