Hi!
I'm trying to simulate peg in hole assembly using matlab and the irb140 robot with a gripper and a force/torque sensor.
How to make a round hole as the bullet engine does not recognise negative volumes? I read someone mentioning using several cuboids to do it but Im still not sure how this would work?
Furthermore, what would be the simplest way to do force/torque control for peg in hole? I was thinking about setting up a dummy at the end of the peg and then setting the target position in the hole but this way it is hard to implement the force control. Any guidance or insight on how it is usually done would be great!
Negative volume and peg in hole
Re: Negative volume and peg in hole
Hello,
a hole is difficult to simulate nicely, independent on the selected physics engine. The best result you can get is indeed by approximating your hole with several cuboids, grouped into a compound shape. Your hole will actually be a polygon-shaped hole, but if you use enough cuboids, you can get a pretty good approximation.
Cheers
a hole is difficult to simulate nicely, independent on the selected physics engine. The best result you can get is indeed by approximating your hole with several cuboids, grouped into a compound shape. Your hole will actually be a polygon-shaped hole, but if you use enough cuboids, you can get a pretty good approximation.
Cheers