What have been people's experience with bullet in Gazebo? Are soft-body and deformable objects supported?

asked 2018-10-10 22:26:07 -0500

I'm considering using Gazebo as a simulation environment for robots that manipulate soft-body objects, but as far as I ca n tell the part of the bullet physics engine API that handles soft body objects is not supported in gazebo. Is this still the case? What work would be required for this API to work? Is it just writing some wrapper functions or is there something else?

More generally, does anyone here use Bullet in Gazebo? What has your experience been compared to ODE?

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