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).

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:

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.

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.

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.

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.

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.

When I use prog.AddConstraint, I not only want provide what constraint is, I also want to provide the gradient of this constraint.

I am using the GCSTrajectoryOptimization class in the drake simulator. I am using the GCS base as a map to navigate through. I would like to add a constraint to the class that encourages the optimizer to avoid coming too close to an edge of the open space.

I would like to have a system where a part can be transferred from one suction gripper into another suction gripper. I’ve implemented a single suction gripper, and it works great. It attaches the part to the end effector’s link.