Deformable body not showing up in pydrake
I am working on a simulation in pyDrake where I have two rigid bodies and one deformable object. The setup is as follows:
Deformable body not showing up in pydrake
I am working on a simulation in pyDrake where I have two rigid bodies and one deformable object. The setup is as follows:
Question about KinematicTrajectoryOptimization AddPathVelocityConstraint
I want to constraints velocity at a specify position, for example set start and end velocity to zero.
Can KinematicTrajectoryOptimization support gurobi solver
currently KinematicTrajectoryOptimization only support snopt or ifopt, is it possiable to support gurobi solver ?
Can KinematicTrajectoryOptimization support gurobi solver
currently KinematicTrajectoryOptimization only support snopt or ifopt, is it possiable to support gurobi solver ?
Can KinematicTrajectoryOptimization support gurobi solver
currently KinematicTrajectoryOptimization only support snopt or ifopt, is it possiable to support gurobi solver ?
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).