A Convex Formulation of Frictional Contact between Rigid and Deformable Bodies

We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The incorporates new corotational material model with positive semi-definite Hessian, which allows us to extend our previous work on the of compliant contact large body deformations. rigorously characterize approximations implementation details. With proven global convergence, effective warm-start, ability take time steps, specialized sparse algebra, method runs robustly at interactive rates. provide validation results performance metrics challenging simulations relevant robotics applications. Our is made available in open-source toolkit Drake.