The problem of objects penetrating each other after the gripper clamps the object

[Liyiyang66]

Hello, I want to collect the torque information generated by the collision at the joint, but after the gripper clamps the object, the object will pass through other objects. What should I do?

This is information about the object：

[JenniferBuehler]

Hi, did you try to add <self_collide>1</self_collide> to the link of the object?

[Liyiyang66]

oh，thanks for your advice, the problem has been solved.

[JenniferBuehler]

Great, that's good to hear! May I asked what resolved it?

[Liyiyang66]

I used gazebo to re-export the more detailed parameter configuration， and set the 1, then the object will colide the table, the force and torque change as well.

[JenniferBuehler]

Thanks for the info :)