Dynamic world environment using models based on FEM data

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!

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.


Oh ok, thank you very much!