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A soft-body simulation using Gazebo + DART

Hi everyone!

My research is focused on medical robotics. Now, one of my main tasks is the soft-body simulation. For my purpose, I use Gazebo9 and the DART physics engine. They both were successfully compiled from the source. Thus, I have the ability to launch the Gazebo simulator with the DART core support. But I don't know how to add deformable contact. For example, a deformable box. Should I write a plugin for Gazebo?

I learned the DART tutorials (don't contain any soft-body example within Gazebo environment) and similar questions on the Gazebo Q&A forum, and I understand that I need the following:

  • A customized WORLD file (a 'soft_contact' property)
  • The plugin that will control the dynamics of objects

Is it right?
Please, give me any ideas or examples for Gazebo+DART.