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Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
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Modelling a deformable softbody gripper in pyBullet #1434

Closed achuwilson closed 3 years ago

achuwilson commented 6 years ago

Hi, I was wondering whether a deformable gripper like the GelSight gripper (linked below)can be simulated in pyBullet.

MIT News on GelSight Arxiv Paper on GelSight

I tried to model a tactile sensor using the getContactPoints API, but it returns only a couple of contact points when gripping objects, which may be attributed to the non-deformability of the solids. Is it possible to expose the softbody simulation capabilities of Bullet in python APIs. In addition, will the collision detection queries work with the softbodies.

ashwal commented 6 years ago

You can take a look at issue #1432 and #1175 for some conversation around this, but no outward facing progress has been made.

I'm working on basic bindings right now.

JanMatas commented 6 years ago

HI @ashwal

have you made any progress on the bindings lately? I am looking for a way to simulate cloth grasping using pybullet.

Thanks!

ashwal commented 6 years ago

@JanMatas For my uses it ended up being faster just to write in C++ in hacky way. Sorry!

ghost commented 4 years ago

Hi @ashwal could you just lay out in 5 steps how to do so? New to python here :) Thank you!