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lucasw / simple_sim_ros

Minimally featured but fast ROS physics simulation wrapping bullet
GNU General Public License v3.0
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Ball grasping demo #20

Open lucasw opened 6 years ago

lucasw commented 6 years ago

Inspired by roscon 2017 talk about reinforcement learning.

lucasw commented 6 years ago

Current state:

https://www.youtube.com/watch?v=Qmmv5mTUCuc

lucasw commented 6 years ago

Also looking at CreateEllipsoid in btSoftBodyHelpers- it is complicated enough to wrap it, don't want to duplicate it yet in python (though that would be nice).

It uses teh Hammersley method to put points on a sphere, the passes that through a convex hull library that may generate additional points or just groups the existing ones into triangles that are then made into links and faces for the bt soft body.

lucasw commented 6 years ago

Make a keyboard teleop option that can be used instead of grasp_sequence.