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2017-03-19 08:17:03 -0600 commented question Friction between gripper and stone not working properly
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2017-03-15 10:38:24 -0600 commented question Friction between gripper and stone not working properly

Im using those values: <inertial> <mass value="${mass}"/> (mass is set to 1.0 (kg)) <origin xyz="0.172716e-01 0.036106e-01 0.106380e-01"/> <inertia ixx="0.063821e-02" ixy="0.0" ixz="0.0" iyy="0.105141e-02" iyz="0.0" izz="0.110947e-02"/> </inertial> Can I check in gazebo if there is something "wrong" with those stones?

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2017-03-15 10:05:09 -0600 commented question Friction between gripper and stone not working properly

Yes, I tried to put both at 1000 mu and mu2 in both files. The other values where unchanged. By saying that Gazebo does not take friction into account I meant that changing the friction coefficients does not make a difference in the behavior when grasping. The stone stays on the table even though the gripper presses with the maximal force.

2017-03-14 13:31:43 -0600 commented question Friction between gripper and stone not working properly

Im using Gazebo 7.5, Ubuntu 14.04, ROS Indigo and ODE

2017-03-14 13:31:42 -0600 asked a question Friction between gripper and stone not working properly

Hi there,

I'm using Gazebo to simulate a pick and place of objects with irregular shape like meshes of stones. When picking an object Gazebo does not seem to take the friction between both objects (stone and gripper ) into account.

Here is a quick video of what happens: https://www.dropbox.com/s/8svnza7dze0...

The friction coefficients of both objects are:

Stone

<gazebo reference="base_link">
  <mu1 value="1.2"/>
  <mu2 value="1.1"/>
  <kp  value="5000000.0" />
  <kd  value="1.0" />
  <fdir1 value="1 0 0"/>
  <collision>
    <surface>
      <bounce>
        <restitution_coefficient> 0.1 </restitution_coefficient>
        <threshold>0.</threshold>
      </bounce>
      <contact>
        <ode>
          <max_vel>0.1</max_vel>
          <min_depth>0.001</min_depth>
        </ode>
      </contact>
    </surface>
  </collision>
  <material name="Gray">
    <color rgba="0.8 0.8 0.8 1"/>
  </material>
  <turnGravityOff>false</turnGravityOff>
</gazebo>

and

Gripper

<!-- Link 3 -->
<link name="${prefix}link_3">
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL" />
    </geometry>
    <material name="grey"/>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
    </geometry>
    <material name="grey"/>
  </collision>
  <inertial>
    <origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
    <mass value="0.03354"/>
    <inertia ixx="0.00000305151"
             ixy="0.00000089792"
             ixz="0.00000000249"
             iyy="0.00001427978"
             iyz="-0.00000001191"
             izz="0.00001264126"/>
  </inertial>
</link>

<gazebo reference="${prefix}link_3">
  <mu1>1.1</mu1>
  <mu2>1.1</mu2>
  <minDepth>0.001</minDepth>
</gazebo>

Link_3 is the finger tip of the gripper as seen in the video above.