The gripper tip is just touching the ground block. - Githubissues

gramaziokohler / integral_timber_joints

Robotic Assembled Timber Structures with Integral Timber Joints

MIT License

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The gripper tip is just touching the ground block. #130

Closed yck011522 closed 3 years ago

yck011522 commented 3 years ago

Turns out for 13 and 33, the gripper tip is just touching the ground block.

Option 1 : Model the gound pillow block to be slightly smaller
Option 2: Change Grasp to another location such that they don't exactly kiss the pillow block
Option 3: Change the gripper jaw hardware and thus the collision model can be smaller. (Not ideal)

Probably will go with Option 1.

2021-10-07 15_52_03

_Originally posted by @yck011522 in https://github.com/gramaziokohler/integral_timber_joints/issues/123#issuecomment-937818495_

yck011522 commented 3 years ago

This is no longer the case with new model.