100kg Unitree foot on a 0.5kg ramp in sim: setting restitution to 0 works
ChongZzZhang · x · 2026-09-15
Follow-up in the same thread: the author drops a 100kg Unitree robot foot onto a 0.5kg, 3cm leaning ramp board with restitution set to 0, showing tuned contact behavior. Together with the earlier test, it validates parameter tuning (solref/solimp, restitution) for heavy-light contact in Isaac Sim.
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