adnanmunawar
commented
2 years ago Hi Johannes,
Hmm, did you set the "enable feedback" to True for the "joint" connecting the "link" (rigid body) on which the sensors/actuators are attached to?
This is what the output for the /ambf/env/Link7/State/wrench/force looks like when I set the enable feedback flag in the ADF file for JOINT Link6-Link7 as shown in the snippet below.
JOINT Link6-Link7:
name: Link6-Link7
parent: BODY Link6
child: BODY Link7
parent axis:
x: 0.0
y: -1.0
z: -0.0
parent pivot:
x: 0.00048
y: -0.09359
z: 0.07237
child axis:
x: 0.0
y: 0.0
z: 1.0
child pivot:
x: 0.0
y: 0.0
z: 0.0
joint limits:
high: 2.74889
low: -2.74889
enable feedback: true # <----- This boolean flag
passive: false
controller:
P: 0.1346
I: 0.00135
D: 0.00135
controller output type: VELOCITY
type: revolute
max motor impulse: 0.05000000074505806
damping: 0.95You can of course set this flag for the joint using the Blender add-on as well.
https://user-images.githubusercontent.com/5005445/184792730-89752653-f679-4d30-8912-902a867fc79c.mp4
Hello Adnan,
thanks again for your implementation of softbody grasping! Sorry to bother you with another issue.
I dont seem to get any interaction forces between the softbody and the grasper, is that correct? My current understanding is that sensed/grasped vertices are fixated a set distance to the actuator without actual interaction with the body grasping it. The grasping body only provides the location (+offset) and no direct link is created. Therefore no forces and no pull is transfered from the softbody to the grasping object. Is my understanding here correct? Or should a "rubber band be able to excert forces on the grasper?
Kind regards, Johannes