Resistive Patches

[JohannesSchwaiger]

Hey Adnan,

thanks in advance for your time.

At the moment I am trying to create a resistive gripper to measure interaction forces between a gripper and an object.

I found that the resistive grippers from your examples don't seem to work on my end as they do in your dissertation. Most gripper don't show the sensors (green and red balls) and using the ones that do(the box and the pr2 gripper resistive), do not really feel resistive.

I would like to add a resistive patch to an existing gripper model I will attach here (I use the mica_gripper_upscaled.yaml file). I tried adding the assumed relevant parts, but it does not work yet. I want to grab a small capsule (capsule_primitive.yaml) to start with.

Does the blender addon have options for resistive patches?

Also, how do I read forces on the objects generated during contact? In the standard object state wrenches or is there a separate ros-topic I didn't find?

I also tried it without resistive patches and things usually slip out of the gripper and the forces are very unstable. Can something be done there?

Thanks again for your work.

Kind regards,
Johannes