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.
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<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?