Search found 17 matches

by nehagarg
10 Nov 2017, 01:49
Forum: General questions
Topic: Strange behavior of random mesh object on collision with mico gripper
Replies: 3
Views: 39

Re: Strange behavior of random mesh object on collision with mico gripper

Hello,

Thanks for your reply. Avoiding such situations during data collection might be difficult for me.
Is there something I can do using simCheckCollision or simCheckCollisionEx to detect such cases?

Thank You.

Regards,
Neha
by nehagarg
09 Nov 2017, 12:07
Forum: General questions
Topic: Strange behavior of random mesh object on collision with mico gripper
Replies: 3
Views: 39

Strange behavior of random mesh object on collision with mico gripper

Hello I want to collect some data for grasping objects by placing mico gripper at various positions w.r.t some object and doing some actions. When I do that, for some positions where gripper intersects the object, I get a very weird behaviour. Object does not fall down but gets attached to the gripp...
by nehagarg
03 Nov 2017, 09:13
Forum: General questions
Topic: Setting object mass without changing inertia
Replies: 2
Views: 54

Re: Setting object mass without changing inertia

Thanks for pointing it out. It was a spelling error.
by nehagarg
01 Nov 2017, 03:03
Forum: General questions
Topic: Setting object mass without changing inertia
Replies: 2
Views: 54

Setting object mass without changing inertia

Hello, I want to import an object mesh model and set its mass without changing the inertia using the lua child script. I tried to do it the following way: mass, intertiamat, com = simGetShapeMassAndInertia(mesh) mass = 0.3 simSetShapeMassAndInertia(mesh, mass, inertiamat, com, nil) However the inert...
by nehagarg
25 Sep 2017, 03:58
Forum: General questions
Topic: Detecting collision with palm of mico gripper without losing grasp stability
Replies: 5
Views: 124

Re: Detecting collision with palm of mico gripper without losing grasp stability

Hello,

Decimating the mesh of MicoHand by 90% solved the issue as it changes the shape of MicoHand from multishape to simple. After doing this, objects do not pierce into the palm when using default ODE engine.

Thanks.

Regards,
Neha
by nehagarg
22 Sep 2017, 11:30
Forum: General questions
Topic: Detecting collision with palm of mico gripper without losing grasp stability
Replies: 5
Views: 124

Re: Detecting collision with palm of mico gripper without losing grasp stability

Hello, Thanks for your answer. It indeed seems to be the problem with the object mesh as this does not happen with a pure cuboid shape. However, if I convert the objects to convex mesh, I lose some important properties of objects like cup with a handle. So that is not an option. I tried with differe...
by nehagarg
22 Sep 2017, 09:08
Forum: General questions
Topic: Detecting collision with palm of mico gripper without losing grasp stability
Replies: 5
Views: 124

Re: Detecting collision with palm of mico gripper without losing grasp stability

Hello, You can download the test scene from following url: https://drive.google.com/open?id=0B81A_1ycmZQyWWNSWjkzZXdjelE In this scene, after starting simulation you can move the gripper along x-axis by moving mico_target. You should see the following when you move the gripper along x-axis: https://...
by nehagarg
20 Sep 2017, 10:45
Forum: General questions
Topic: Detecting collision with palm of mico gripper without losing grasp stability
Replies: 5
Views: 124

Detecting collision with palm of mico gripper without losing grasp stability

Hello, While trying to grasp a rectangular object using mico gripper, I noticed that palm of the gripper (MicoHand_visible is the mico model provided by vrep) is not respondable i.e. no collisions are detected with it. This results in the triangular object moving into the palm while grasping which i...
by nehagarg
18 Sep 2017, 07:58
Forum: General questions
Topic: Simulating under actuated mico gripper
Replies: 4
Views: 177

Re: Simulating under actuated mico gripper

Hello, I noticed that the maximum value of MicoHand_joint1_finger1 is set to 45 degrees. In real mico gripper it can go upto 80 degrees. If I set it to 80 degrees, I can see the gripper closing like real mico gripper. Though the maximum value it can reach on gripper closing is 60 degrees. Was wonder...
by nehagarg
11 Sep 2017, 11:18
Forum: General questions
Topic: Simulating under actuated mico gripper
Replies: 4
Views: 177

Re: Simulating under actuated mico gripper

Thanks a lot for the suggestions. Changing joint forces and the closing velocity is generating the desired behaviour!