Make vacuum gripper plugin not teleport object straight down

asked 2020-05-10 17:16:38 -0600

robotlab gravatar image


I am not sure if this is the correct place to ask about the vacuum gripper plugin, but it is a Gazebo plugin, so I'll take a shot.

I am currently using the vacuum gripper plugin, and it works just fine. There is one detail I would like to change though to make it a bit more realistic.

When an object is released mid-air, the object falls straight to the ground. Looking through the source, it says somewhere that the object is "teleported" down, which means if the robot releases an object while in motion, instead of the object keeping forward momentum, it falls straight to the ground, which looks very unrealistic. My guess is it was done as a hack to keep the object in place where the robot is (almost) standing still.

Is there a way I can make the object keep normal forward movement when released instead of dropping straight to the ground?

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