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Here is an example tube that has been used in grasping tasks:

https://bitbucket.org/osrf/gazebo_models/src/92888709c301429ba1b5236063702857026c38cc/tube_9_5mm/model.sdf?at=default&fileviewer=file-view-default

In your world file, you can try this physics parameters:

<physics type="ode">
      <gravity>0.000000 0.000000 -9.810000</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>100</iters>
          <precon_iters>0</precon_iters>
          <sor>1.000000</sor>
        </solver>
        <constraints>
          <cfm>0.000000</cfm>
          <erp>0.500000</erp>
          <contact_max_correcting_vel>1000.000000</contact_max_correcting_vel>
          <contact_surface_layer>0.00000</contact_surface_layer>
        </constraints>
      </ode>
</physics>

Additionally:

  1. Check the interia value of your tube. You can visualize the inertia in the GUI.
  2. Try turning on collision visualizations, and see if the contacts are being created as you might expect.
  3. What type of control for the hand are you using, position or torque?