Real-Time Physics Simulation Forum 2021-12-09T09:18:56+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13335 2021-12-09T09:18:56+00:00 2021-12-09T09:18:56+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43755#p43755 <![CDATA[Collision not working with low mass]]>
This is my first topic here, so I apologize in advance if I didn't open it properly.

I am using UR5 + Robotiq gripper to pick objects but I am having issues with the collisions when I decrease its mass.
I tried to create a simple object to test (cube of 35cm on each side and mass of 0.00615) but when I try to grasp it, the robot pass through the object.

The URDF of the test object is:
Capture.JPG
To close the gripper I am using:


When I increase the mass to about 0.6 the gripper doesn't pass through the block. What wrong am I doing? the mass in the URDF is really the mass right (I mean, not the weight of the obj).

*there is no threshold for passing through or grasping the object, as much as I decrease the mass, as the behavior of the collision change.
moveGrip.JPG
moveGripper.JPG
(please let me know if I should include more information to describe the problem)

Thank you very much in advance,

Statistics: Posted by brleme — Thu Dec 09, 2021 9:18 am

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