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?