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GrauleM / somo

a framework to facilitate the simulation of continuum manipulators in pybullet
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Parallel Manipulators #10

Open zpatty opened 2 years ago

zpatty commented 2 years ago

Hi guys, Awesome work on this paper and simulator, we have been working on similar concepts in our lab but the way you've leveraged urdf and pybullet are really elegant! Correct me if I'm wrong, but it appears that the current version of the library is not capable of generating models with multiple branches (eg. to create a multi-legged mobile robot for example). Are there plans to implement this in the future? It seems like it wouldn't be that hard to build into the existing framework, so if you don't plan on doing so I'll probably take a crack at it.

GrauleM commented 2 years ago

Hey! Thanks, glad you like it! We have plans to add a 'cm_assembly' that provides an interface/objects for multiple continuum manipulators moving as a group, and ideally stitching together continuum manipulators with simple urdfs to facilitate the creation of soft/rigid hybrid robots. That said, we didn't really start with this, so if you are interested in helping out, that would be very welcome! If that's the case, should we talk through the desired interface quickly?

1234shel commented 2 years ago

Hi Guys, Just wanted to check if there has been progress with regards to this feature. I am also interested in something very similar.