Can we simulate a deformable object in Gazebo now?
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.
Thanks
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: https://answers.ros.org/question/1511...
Cheers
It's not very suitable for real time but check out https://projectchrono.org/ - they have examples will deformable terrain.