feat: improve grasping cube (#195)

This commit improves the grasping cube so that it doesn't slide out of the gripper (see #37).
rickstaa · Dec 13, 2023 · 3441187 · 3441187
1 parent 753f9e1
commit 3441187
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Showing 4 changed files with 21 additions and 24 deletions.
diff --git a/panda_gazebo/resources/models/cube/model.config b/panda_gazebo/resources/models/cube/model.config
@@ -7,5 +7,5 @@
  <name>Rick Staa</name>
  <email>[email protected]</email>
  </author>
- <description>A small cube.</description>
+ <description>A small wooden cube.</description>
 </model>
diff --git a/panda_gazebo/resources/models/cube/model.sdf b/panda_gazebo/resources/models/cube/model.sdf
@@ -4,17 +4,17 @@
  <link name='link'>
  <inertial>
  <pose>0.03 0.03 0.03 0 -0 0</pose>
- <!--NOTE: Uses Polyethylene density to calculate the mass
- see https://en.wikipedia.org/wiki/Polyethylene
+ <!--NOTE: Uses wood (Longleaf Pine) density (i.e 590 kg/m^3) to calculate the
+ mass see https://en.wikipedia.org/wiki/Wood.
  -->
- <mass>0.20735999999999996</mass>
+ <mass>0.12743999999999997</mass>
  <inertia>
- <ixx>0.00012442</ixx>
+ <ixx>7.6464e-05</ixx>
  <ixy>0</ixy>
  <ixz>0</ixz>
- <iyy>0.00012442</iyy>
+ <iyy>7.6464e-05</iyy>
  <iyz>0</iyz>
- <izz>0.00012442</izz>
+ <izz>7.6464e-05</izz>
  </inertia>
  </inertial>
  <visual name='visual'>
@@ -40,27 +40,24 @@
  </box>
  </geometry>
  <surface>
- <!--NOTE: Used dynamic friction of clean dry plastic cube on a plastic surface
- (i.e. Polyethylene) see https://www.engineeringtoolbox.com/friction-coefficients-d_778.html
+ <!--NOTE: Uses dynamic friction of brick on a wood surface
+ see https://www.engineeringtoolbox.com/friction-coefficients-d_778.html
  -->
  <friction>
  <ode>
- <mu>0.2</mu>
- <mu2>0.2</mu2>
+ <mu>0.6</mu>
+ <mu2>0.6</mu2>
  </ode>
+ <bullet>
+ <friction>0.6</friction>
+ <friction2>0.6</friction2>
+ </bullet>
  </friction>
  <contact>
  <collide_bitmask>1</collide_bitmask>
  <ode>
- <kp>1e+06</kp>
- <kd>1e+06</kd>
- <max_vel>1</max_vel>
  <min_depth>0.002</min_depth>
- </ode>
- <bullet>
- <kp>1e+06</kp>
- <kd>1e+06</kd>
- </bullet>
+ </ode> 
  </contact>
  </surface>
  </collision>

diff --git a/panda_gazebo/resources/models/long_platform/model.sdf b/panda_gazebo/resources/models/long_platform/model.sdf
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.7'>
- <model name='long platform'>
+ <model name='long_platform'>
  <link name='link'>
  <inertial>
  <mass>10</mass>

diff --git a/panda_gazebo/resources/tools/inertia_mass_calculator.py b/panda_gazebo/resources/tools/inertia_mass_calculator.py
@@ -7,14 +7,14 @@
 import numpy as np
 
 # Script settings.
-CUBE_WIDTH = 0.02
-CUBE_DEPTH = 0.032
-CUBE_HEIGHT = 0.064
+CUBE_WIDTH = 0.06
+CUBE_DEPTH = 0.06
+CUBE_HEIGHT = 0.06
 
 CYLINDER_RADIUS = 0.025
 CYLINDER_HEIGHT = 0.02
 
-MATERIAL_DENSITY = 2000
+MATERIAL_DENSITY = 590
 
 
 def get_cylinder_mass(radius, height, rho):