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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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surface cutting simulation #1412

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Andrew Hundt (Bitbucket: ahundt).

I need to be able to do surface cutting simulation. Is that possible? If not, I wanted to make note of that need so you can keep it in mind, particularly considering how it would also be useful to the DRC.

V-Rep has this implemented, and if it isn't possible with gazebo I may need to consider switching to v-rep for the moment.

Here is their demo: http://youtu.be/z4aMh9YQwdM?t=2m35s (will open immediately to surface cutting simulation at 2m 35s)

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

The closest thing we have is the BreakableJointPlugin added in pull request #865, which could be used to approximate cutting by discretizing a model a priori into small chunks that could be broken off and removed.

I still need to write a tutorial about how to use it, but I can explain it more if you're interested.