Can we simulate a deformable object in Gazebo now?

asked 2017-04-17 16:33:42 -0600

mzWang gravatar image

updated 2021-10-26 09:32:28 -0600

lucasw gravatar image

Hi everyone,

I'm trying to simulate a deformable terrain for testing a soft contact between robot and ground. After some searches, I found that DART has a "soft_contact" property which may do the job. I tried changing parameter of soft_contact in the sdf file, but nothing changes in gazebo. To be specific, I create one layer and add "soft contact" tag in its sdf file. I change the stiffness value from 100 to 1 and put one sphere on the layer in gazebo (with DART engine). I expected the layer will have different deformation with different stiffness value, but the sphere doesn't sink in the layer no matter what value I set.

Does anyone know how to simulate this kind soft contact using DART (or other engine)? Hope I was clear.


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Hi mzWang,

Did you find a sol/workaround? If so let me know (I want to simulate rubber ball, vegitables etc) I assume u checked this:


aknirala gravatar image aknirala  ( 2017-08-19 17:46:39 -0600 )edit

It's not very suitable for real time but check out - they have examples will deformable terrain.

lucasw gravatar image lucasw  ( 2021-10-26 09:34:18 -0600 )edit