How to make a gripper with two fingers (2DOF) have 1 DOF making one finger symmetric to the other
I am trying to add a model of a wsg-like gripper in Drake from an SDF file. The gripper has 2 joints:
Is specifying the same decision variable multiple times in AddConstraint problematic?
Given the following two ways of creating the same constraint
Is specifying the same decision variable multiple times in AddConstraint problematic?
Given the following two ways of creating the same constraint
Undesired oscillatory, bouncing, low friction behavior of Robotiq 2F-140 gripper closing mechanism
When I simulate grasping of objects with the Robotiq 2F-140 gripper the gripper closing mechanism exhibits oscillatory low friction behavior as you can see in this video. The two finger pads bounce back heavily after impact with the rigid object hydroelastic compliant objects (same happens with a high hydroelastic modulus “rigid” and low to medium hydroelastic modulus).
Undesired oscillatory, bouncing, low friction behavior of Robotiq 2F-140 gripper closing mechanism
When I simulate grasping of objects with the Robotiq 2F-140 gripper the gripper closing mechanism exhibits oscillatory low friction behavior as you can see in this video. The two finger pads bounce back heavily after impact with the rigid object hydroelastic compliant objects (same happens with a high hydroelastic modulus “rigid” and low to medium hydroelastic modulus).
Install drake==1.32.0 on Ubuntu 20.04
my ubuntu is 20.04, with python=3.11.9.
I tried to install drake==1.32.0 using pip, but it shows error like this:
What is the spatial inertia frame and expressed about point for the spatial inertias in the inverse dynamics?
The inverse dynamics τ_id = M(q)vd_d + C(q, v)v - τ_g(q) - τ_app contain the mass matrix M(q) which in turn contains all the spatial inertias of the links. I’m curious what point these spatial inertias are about and what frame they are expressed in.
What is the spatial inertia frame and expressed about point for the spatial inertias in the inverse dynamics?
The inverse dynamics τ_id = M(q)vd_d + C(q, v)v - τ_g(q) - τ_app contain the mass matrix M(q) which in turn contains all the spatial inertias of the links. I’m curious what point these spatial inertias are about and what frame they are expressed in.
What is the spatial inertia frame and expressed about point for the spatial inertias in the inverse dynamics?
The inverse dynamics τ_id = M(q)vd_d + C(q, v)v - τ_g(q) - τ_app contain the mass matrix M(q) which in turn contains all the spatial inertias of the links. I’m curious what point these spatial inertias are about and what frame they are expressed in.
What is the spatial inertia frame and expressed about point for the spatial inertias in the inverse dynamics?
The inverse dynamics τ_id = M(q)vd_d + C(q, v)v - τ_g(q) - τ_app contain the mass matrix M(q) which in turn contains all the spatial inertias of the links. I’m curious what point these spatial inertias are about and what frame they are expressed in.