Mass of held objects
Issue #34
on hold
Would your controller benefit from knowing the mass and CoM location of objects in the hands? Should there be a mechanism for us to pass it that info?
Comments (6)
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@stgray are you encountering any issues with this? Or have the robot instabilities blocked you from testing manipulation with our software?
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- changed status to on hold
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reporter
@dljsjr We seem to be okay on this, I think. We haven't been able to test much with held objects yet. We would be interested in loading with a different robot config (rather than either no hands or dual robotiq hands). We have a left robotiq and a right custom hand that masses 1kg.
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@stgray Unfortunately we can't currently provide an API for passing in arbitrary .sdf files to our controller as we have to do some modifications to them so that they don't blow up our simulator. But if you can provide us with a xacro that has your custom right hand I would be happy to generate a compatible .sdf and add it to the next dist release so that the controller model more closely matches your robot.
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reporter
@dljsjr Sounds great.
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@stgray We currently don't have a mechanism for handling this information in the control algorithm. We've yet to encounter a situation in our testing where the controller wasn't robust to picking stuff up. If you encounter a situation where the controller seems to have issues with holding an object then this is a bug; you can submit a log file to us and we'll definitely take a look.