> Hi Doug,
> I had same experience with the gripper in Gazebo
> but then i observed that giving the friction
> coefficient to the object, prevents it from falling
> down when the robot rotate :
Thanks for the suggestion, but I'm not sure that that helps. That seems t=
cause the problem I had previously and reported here in the mailing list
where the paddles slide left and right as if they are on a frictionless
The problem that I am having (specifically in the example file
pioneer2dxGrip.world) is that I can't pick up one block and stack it on
the other. Either the paddles (with a block between them) slides back and
forth, or, if I rotate, the block pops out from between the paddles. If I
do get in a position with one block over the other, I can't set the block
down gently enough---the top block goes careening and tumbles away.
I assumed that this world was for demonstrating block stacking, but I get
the impression that no one has ever done it, and that Gazebo isn't quite
ready to be used for manipulation.
On a related note, it looks like the Gazebo pioneer gripper doesn't
support break beam states. I always get false.
> <surfaceFriction>40 40</surfaceFriction>
> I dont know whether this is a good solution or not,
> but so far this is the one that work, since I tried
> to modify the gripper to increase the friction
> coefficient on the paddles, but still had same
> What problem do you have with stacking object?
> --- "Douglas S. Blank" <dblank@...> wrote:
>> We are finalizing our Python Robotics software for
>> the summer, and I was
>> wondering about the state of the grippers in Gazebo
>> and Stage (not the
>> latest CVS versions necessarily, but the last
>> semi-stable versions).
>> In Gazebo 0.5.2, I have tried to manually pick up a
>> block using the
>> Pioneer simulated gripper in pioneer2dxGrip.world.
>> If I rotate the
>> robot, the block falls from the gripper. Is there a
>> way to increase the
>> pressure to better grip the block? Can you stack the
>> blocks, or is it
>> just me?
>> In Stage 1.6.4, the gripper now moves, but it
>> appears that objects
>> cannot be picked up. Is this correct? If so, what
>> needs to be added so
>> that objects can be picked up and moved? What needs
>> to be added to
>> consume them?
>> On a related note, Stage objects don't appear to be
>> able to be "pushed"
>> around like the old pucks. What would be necessary
>> to add that capability?
>> Thanks for any information (or patches :),
>> Douglas S. Blank, Assistant Professor
>> dblank@..., (610)526-6501
>> Bryn Mawr College, Computer Science Program
>> 101 North Merion Ave, Park Science Bld.
>> Bryn Mawr, PA 19010 dangermouse.brynmawr.edu
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