Dynamic world environment using models based on FEM data

Help
1

Hello everybody, I would like to know if it is possible to generate a simulation that can have a world that can be deformed in some way by interacting with the robot (the robot crashes a wall, drills a hole in the ground, sinks due to his weight, hits an obstacle,…) by using a predictive model based on precalculated FEM results for this interactions.

Thank you in advance for your help!

2

Hi @Vagl96 ,

Gazebo uses rigid-body dynamics, so this kind of thing can’t be trivially done. But depending on the use case there may be workarounds and approximations that you can do.

Cheers

3

Oh ok, thank you very much!