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Ways to simulate dirt digging in Gazebo?

asked 2019-02-11 18:17:22 -0500

csr gravatar image

Is there a way to simulate digging into dirt from a robot arm that can scoop into the ground? Any part of the group terrain (for simplicity) could be dug through and the contents would need to remain in the arm scoop until they were dropped off.

If there is not already a way to do this, does anyone know of a similar effort that I can gain insight from?

Thanks!

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answered 2019-02-21 17:04:36 -0500

arogg gravatar image

Hello, we are trying to achieve a very similar task with a robotic arm and a scoop on loose terrain. I have not found any native ways to perform this in Gazebo. The apparent best way to simulate this task is to use a Discrete Element Method simulator that enable particule interaction simulation with an end effector. There are a few open source software that have little to do with Gazebo such as: LIGGGTHS or GranOO (and a few others).

Sorry not to be more helpful. Please keep us informed if you find anything interesting.

Best of luck!

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Asked: 2019-02-11 18:17:22 -0500

Seen: 463 times

Last updated: Feb 11