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JenniferBuehler / gazebo-pkgs

A collection of tools and plugins for Gazebo
BSD 3-Clause "New" or "Revised" License
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simulate gripper surface to bend when in contact #39

Closed brinij closed 5 years ago

brinij commented 5 years ago

Hi,

I have general question about Gazebo simulation capabilities. Do you know if it is possible to simulate bending of, for example, shadow hand fingertips when they are in contact with some object? Should I change material of fingertip to be a rubber in SDF file or play with friction parameters? I want to achieve human-finger-like behavior. Did you already achieved something like this in one of you simulations? Thank you in advance!

JenniferBuehler commented 5 years ago

Hi,

I think soft bodies are not suppoted yet, but I think bullet and dart engines support it to some extent, and if I remember correctly there is an effort to integrate this into Gazebo, though I don't know details and how much has been done on that front. You'll probably get more informed answers on answers.gazebosim.org on the newest developments :)

In general I'd try to get things fully working with rigid bodies first, if it doesn't run smoothly with rigid then it will probably blow up with soft. Do you have a working setup with the rigid gripper yet?

brinij commented 5 years ago

Thank you for the quick feedback. Yes I have it working with rigid gripper in gazebo7. Anyway thank you for your help.

JenniferBuehler commented 5 years ago

Ok. I hope you found some answers online in regards to soft bodies. I'll close this for now, if you end up trying soft bodies through bullet or dart, feel free to re-open this to have a discussion about that here.