Any plans for Gazebo and Gazebo plugin integration?

keenon / nimblephysics

Nimble: Physics Engine for Biomechanics and Deep Learning

http://www.nimblephysics.org

Other

391 stars 43 forks source link

Any plans for Gazebo and Gazebo plugin integration? #28

Open radenmuaz opened 3 years ago

radenmuaz commented 3 years ago

Will DiffDART be like PyBullet but with DART?

Or are there plans for Gazebo integration? Since Gazebo doesn't have good Python API like PyBullet, I'd imagine the system would be Gazebo Plugins-based, with Gazebo ROS publisher nodes calling backward() after physics time step, and some agent subscriber nodes receiving the signal to start collecting grad for updating weights.

keenon commented 3 years ago

Thanks for the ticket! We don't currently have any plans for a Gazebo integration, but it sounds like you've got a sketch of an implementation in your head. I'd be happy to merge in a PR, if you wrote one. Our new developer guide is here: https://github.com/keenon/nimblephysics/wiki

Feel free to email me at keenon@cs.stanford.edu with questions, and I'm happy to provide pointers and support.