Collision Not being detected

asked 2021-11-04 06:45:08 -0500

mrVico gravatar image

updated 2021-11-04 06:46:59 -0500

Hi Everyone,

I'm trying a simple example of a robot grasping an object. The gripper is simply paramerized as a cylinder base with two cuboid as fingers and the object to grasp is a simple cuboid. the problem is that when the grasp is performed, there is no collision between fingers and object, as they go into the object, as showed in the following photo.

alt text

Anyone know why is happening that, I have defined the collision element in the sdf of the objet and in the urdf of the gripper. I'm using Ode engine with default parameters and gazebo 11.

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may be the simulation is paused.

CroCo gravatar imageCroCo ( 2021-11-09 22:33:45 -0500 )edit

can you share the URDF and SDF you are using?

If your gripper is URDF, ensure that each link has defined inertial properties. Else, the URDF to SDF conversion has a habit of ignoring the links

shonigmann gravatar imageshonigmann ( 2021-11-16 14:46:43 -0500 )edit