Hi, after following this tutorial (https://github.com/hello-robot/stretch_ros/tree/noetic/stretch_gazebo), I was able to simulate Stretch with Dex Wrist in the Gazebo simulator successfully. However, I noticed the stretch robot is not able to grab an object as shown in the screen recordings below. Even if I changed the mu and mu2 values in the friction section of the coke can to large values (100 and 200 respectively), I still can’t make the robot grab on the coke can. I was wondering how I can solve this issue?
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Hi @tonyl02, welcome to the forum. In our experience, making the gripper grasp objects through friction and dynamics simulation in the Gazebo is pretty hard, which does not match the real-world conditions. A more efficient method to simulate a grasp would be to use plugins such as Gazebo Grasp Plugin where you get to define grasping contact links and forces for gripping a object which would automatically attach the object to the grip.
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