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Unusual contact dynamics observed when simulating grasps

asked 2018-04-15 17:10:06 -0500

Jekyll1021 gravatar image

Hi all,

I was trying to simulate grasping motion in gazebo. However I observed some unusual dynamics that looks like the box item(grasp target) and the gripper are constantly colliding with each other. I wonder if there is any way to resolve this issue?

The attached video captures what's going on in the simulator starting from 0:30 https://drive.google.com/open?id=1a1O...

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https://drive.google.com/open?id=1a1OAXSpzOiCBsFtk1g6C2Pv-MHVMG3fe

Jekyll1021 gravatar imageJekyll1021 ( 2018-04-15 17:10:03 -0500 )edit

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answered 2018-04-26 07:28:02 -0500

It looks like you may be using meshes for collisions. If that's the case, try changing the collisions of both the bricks and the robot's gripper to simple shapes (e.g. box collision).

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This works! Let me detail what I did here: I change collision model from mesh to bounding box of mesh file. * Meshlab can be used to quickly figure out the needed bounding box size and origin (in render->show box corners) Some other useful suggestions for tuning contact dynamics can be found in this post: http://answers.gazebosim.org/question/13700/object-slips-out-of-the-gripper-after-jitters/ I find setting damping helps to prevent slipping.

Jekyll1021 gravatar imageJekyll1021 ( 2018-05-02 00:28:03 -0500 )edit
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Asked: 2018-04-15 17:09:19 -0500

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Last updated: Apr 26