Search found 16 matches

by nehagarg
19 Mar 2019, 02:11
Forum: General questions
Topic: Simulating kinect depth point cloud for objects of different materials
Replies: 1
Views: 823

Simulating kinect depth point cloud for objects of different materials

Hello,

I want to simulate the kinect point cloud for objects with different levels of opacity.
However when I change the opacity of an object in scene, kinect point cloud does not change. Is there a way to simulate kinect point clouds for objects of different materials?

Thanks.

Regards,

Neha
by nehagarg
31 Aug 2018, 05:13
Forum: General questions
Topic: Getting Kinect RGB image via ros
Replies: 1
Views: 1373

Re: Getting Kinect RGB image via ros

This has been solved. Issue was with some image processing code at my end.
by nehagarg
28 Aug 2018, 17:17
Forum: General questions
Topic: Getting Kinect RGB image via ros
Replies: 1
Views: 1373

Getting Kinect RGB image via ros

Hello, I am trying to get the rgb image from kinect sensor via ros using following comand in a script: simExtROS_enablePublisher(prefix.."rgb/image_rect_color", 1, simros_strmcmd_get_vision_sensor_image, colorCam, -1, "") However the image I a getting is not correct. Please see t...
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: 2552

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: 2552

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: 2552

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: 2552

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: 2872

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: 2872

Re: Simulating under actuated mico gripper

Thanks a lot for the suggestions. Changing joint forces and the closing velocity is generating the desired behaviour!
by nehagarg
08 Sep 2017, 10:11
Forum: General questions
Topic: Simulating under actuated mico gripper
Replies: 4
Views: 2872

Simulating under actuated mico gripper

Hello, I am trying to use mico arm for grasping. The current mico gripper simulation does not imitate the real mico gripper. See images in the doc shared below: https://docs.google.com/document/d/15p4PPbY3SWFjyQ8UHHVwWgI1QhAR-tkIDrBdFzcoq9Q/edit?usp=sharing Because of this, I am not able to grasp ob...