Invisible collision with lego_vhacd.obj [video]
Posted: Mon Nov 12, 2018 1:51 pm
Hello
I am training a neural net to learn to grasp objects. I use the provided lego.urdf as the object to pick up with a YuMi robot.
With the provided lego object I noticed quickly that a lot of slipping is happening. Changing the friction and force values of the gripper did not help against slipping.
Then I found the lego_vhacd.obj file that is also provided in the bullet3 repository and changed the collision part in the lego.urdf to make use of it.
With this change the object does not slip from the gripper that much, but another problem occurs: when the gripper is close to the object it will "sidestep" as though it collided with an invisible object. Here is a video of the situation and also how it looks like with the standard lego.urdf: https://drive.google.com/open?id=1xXUne ... eIEb4BeRzz.
Do you know why this occurs and how it could be solved?
I am training a neural net to learn to grasp objects. I use the provided lego.urdf as the object to pick up with a YuMi robot.
With the provided lego object I noticed quickly that a lot of slipping is happening. Changing the friction and force values of the gripper did not help against slipping.
Then I found the lego_vhacd.obj file that is also provided in the bullet3 repository and changed the collision part in the lego.urdf to make use of it.
Code: Select all
<collision>
<origin rpy="1.570796 0 0" xyz="-0.016 -0.016 -0.0115"/>
<geometry>
<mesh filename="lego_vhacd.obj" scale=".1 .1 .1"/>
</geometry>
</collision>
Do you know why this occurs and how it could be solved?