Anyone who's succeeded with grasping using ROS and Gazebo, what advice do you have to offer?

asked 2018-09-04 09:33:07 -0500

raequin gravatar image

updated 2018-09-05 09:52:50 -0500

There are a few Gazebo simulations that I've seen with a robot grasping an object, and manipulating objects was part of the (DARPA) Virtual Robotics Challenge, so I know it is feasible and therefore can't give up on getting my simulation working. (In case it matters, I'm using Kinetic and Gazebo 9.) If you've performed grasping with a robot in ROS and Gazebo, will you let me know what settings, tweaks, modifications, or caveats one should be aware of in this realm?

edit: To provide more focus, let me say that this question is mainly concerned with the contact physics, but I'm looking for any and all tips since I've seen that even the ROS joint controller can mess up the physics. From what I've read online, it appears that modeling contact for grasping in Gazebo is problematic. (For example, 1 and 2.) To ameliorate this problem, I have tried changing kp, kd, max_vel, min_dist, mu1, mu2, fdir1, max_step_size, iters, and even the physics engine.

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