Felt pen leaves no trace on cuboid

[sumi_boss]

Hello,

I am using a UR5 robot with RG2 gripper and a felt pen. The gripper is holding the pen and I want to write with it. I used a cuboid as an object to write on and I am trying to control the contact force between the pen and the cuboid. However, the pen does not leave any mark on the cuboid. There is contact between the two, it can be seen in the simulation, and also, when I read the force sensor I can see that there are contact forces. However, the pen leaves no mark. I tried writing on the floor and the pen did leave a mark. Can you tell me if it is possible to use the felt pen to write on a cuboid? If so, why does this happen? I made sure that the pen model is dynamic and respondable, and so is the cuboid.

Best regards

[coppelia]

Hello,

make sure your cuboid is detectable... the felt pen has a proximity sensor at its tip, to detect a detectable object.

Cheers

[sumi_boss]

Hi,

Yes, that's it, it works great now! Thanks!

Best regards