ROS2-Taichi Interface

[JimLiu35]

Hi guys,

I had a hard time of doing some soft tissue simulations with SOFA during my previous robotics research project. However, I recently discovered Taichi, an incredibly powerful and efficient physics engine for soft body and large-scale particle simulation with easily accessible Python API. Therefore, I am thinking of building a ROS-Taichi interface so that people could easily build their simulation environment with ROS2, a powerful, flexible, and open-source framework for building complex robotic systems. I realize that Taichi can already cooperate with ROS on SLAM project, but I want to build a more general interface so that people can run their own ROS simulations not just limiting on SLAM.

I welcome any suggestions. Please feel free to contact me to discuss more via email at gliu35@jhu.edu or jimliu2014@hotmail.com if you are interested in this.

Thanks!
Jim