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Unity-Technologies / Unity-Robotics-Hub

Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.
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Unable to pick up objects heavier than 0.05 using manipulator arm #361

Open karthikm-0 opened 2 years ago

karthikm-0 commented 2 years ago

I am struggling to pick up objects heavier than 0.05 units (on rigid bodies). I am using a teleoperated robot arm with basic parameters for the controller (Stiffness: 100000, : Damping: 10000, Force Limit: 10000). The issue is that when these objects are picked up they wobble and eventually slip away. Objects with any more weight are never picked up. Here's a demo showing both:

https://streamable.com/tzul8c

Any help would be appreciated!

erencandural commented 2 years ago

Hello, while I'm a novice with Unity and robotics, I came across something that may be of help to you. I'm using Franka Emika Panda as well and when I was converting the robot's .xacro file into a .urdf file, I used the rosrun xacro xacro $(rospack find franka_description)/robots/panda_arm.urdf.xacro gazebo:=true hand:=true> panda_arm.urdf command, enabling the gazebo simulation option. In the imported URDF file, under the Plugins object, I came across several scripts called Urdf Plugin denoting the friction coefficients of both fingers. Maybe you can try changing them but like I said I'm fairly inexperienced and haven't even gotten to grasp an object yet. I hope this helps though!