I'm trying to grab objects with a franka panda gripper and with the Mujoco engine.
I tried to use a custom controller with the joint handle callback.
I changed friction parameters (friction, solimp, impratio).
But when the gripper is coming close the object ( a cuboid), it's always shaking.
Even though, the max torque, I use is really low.
Code: Select all
function sysCall_joint(inData)
if inData.mode==sim.jointmode_dynamic then
-- Simplest position controller example:
local ctrl=inData.error*20
local maxVelocity=ctrl
if (maxVelocity>inData.maxVel) then
maxVelocity=inData.maxVel
end
if (maxVelocity<-inData.maxVel) then
maxVelocity=-inData.maxVel
end
local forceOrTorqueToApply=inData.force
-- Following data must be returned to CoppeliaSim:
local outData={vel=maxVelocity,force=forceOrTorqueToApply}
return outData
end
end
Thanks in advance,
Alexis