Soft body simulation in bullet physics + ROS with rviz @LucasWalter

Uploaded November 2016 | Updated September 2026, 2 hours ago

A python script generate a rigid body chassis anchored to cube soft body wheels, and then motors on hinge joints propels the vehicle forward.

Spoiler alert: it turns out square squishy wheels don't work very well.

github.com/lucasw/simple_sim_ros/tree/softbody

Soft body simulation in bullet physics + ROS with rviz

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$Tao physical model sound synth - 40 strings This is the example of a simulated 40 string instrument being played in taopm. Ive imported the Tao A Software Package for Sound Synthesis with Physical Model (http://taopm.sourceforge.net/) into github https://github.com/lucasw/tao_synth, replaced configure with cmake, and eliminated what I dont want to maintain. Some of that may come back as python scripts. The visuals and sound dont match up, the visuals are proceeding at a tiny fraction of the audio rate. add and re-encode audio to silent ogv video ffmpeg -i 40strings.ogv -i 40strings_b.mp3 -vcodec copy 40strings_with_audio.ogv$

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