Attach static object to RG2 gripper
Posted: 20 Mar 2021, 05:10
Hi,
I am implementing grasping of complex shape objects, and found attach mode grasping in RG2 gripper code is very useful. I set object to dynamic and found it worked well when the grasping pose is well designed, however it made the object flying around the gripper when the grasp pose is not that accurate, even attaching to gripper. So I tried to set it to static and then I found the last joint of manipulator became very laggy when it is moving. It took a long time to reach the ik goal, and the case remains the same after I set the object mass and inertia to be super small (~10e-8). Is it possible to get this attach mode grasping work with static object and keep manipulator joint working normally?
I am implementing grasping of complex shape objects, and found attach mode grasping in RG2 gripper code is very useful. I set object to dynamic and found it worked well when the grasping pose is well designed, however it made the object flying around the gripper when the grasp pose is not that accurate, even attaching to gripper. So I tried to set it to static and then I found the last joint of manipulator became very laggy when it is moving. It took a long time to reach the ik goal, and the case remains the same after I set the object mass and inertia to be super small (~10e-8). Is it possible to get this attach mode grasping work with static object and keep manipulator joint working normally?