Collision not working with low mass

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brleme
Posts: 1
Joined: Thu Dec 09, 2021 7:36 am

Collision not working with low mass

Post by brleme »

Hello!

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
Capture.JPG (53.8 KiB) Viewed 21822 times
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
moveGrip.JPG (14.27 KiB) Viewed 21786 times
moveGripper.JPG
moveGripper.JPG (22.06 KiB) Viewed 21786 times
(please let me know if I should include more information to describe the problem)

Thank you very much in advance,
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