I am trying to simulate an electric screwdriver attached to a robotic arm picking a screw but I got a problem with the picking phase.
First I move the tip of the screwdriver in the correct position wrt to the screw, second, I am using an invisible suction pad to create a dummy-dummy link, then I make the screw dynamic in order to move it rigidly with the screwdriver.
When I make the screw dynamic, although the rigid link has already been set, it slightly moves from the tip of the screwdriver. How can I avoid this behavior? keeping the link rigid during the transition static-dynamic
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I found the error. Sim.setObjectParent(dummy_1,screw,true) is called while the arm is still moving to get closer to the screw (the tip of the screwdriver matching the head of the screw). This last movement of the tip leads to a small offset between dummies_1 (child of the screw) and dummies_2 (child of the tip) and that is why the screw moves when it becomes dynamic.