hsr-project/hsrb_gazebo_plugins

Overview

This is the place for the dedicated HSR-B Gazebo plugins (shared libraries).

Plugins

• gazebo_hrh_gripper

  This is the plugin for moving the HSR-B gripper.

• hsrb_grasp_hack

  This is the plugin that implements the HSR-B's suction function within the simulator.

• hsrb_bumper

  This is the plugin that implements the bumper sensors within the simulator.

LICENSE

This software except thirdparty directory is released under the BSD 3-Clause Clear License, see LICENSE.txt. The software in the thirdparty directory is released under the Apache License, Version 2.0, see thirdparty/LICENSE.

hsrb_gazebo_plugins's Issues

Pitcher "sticking" to the gripper

Hi,

While using the simulation for the ongoing RoboCup@Home Japan Open, I've noticed that, while grasping, some of the objects, in particular the pitcher, behave in a rather unrealistic way. For example, the pitcher often (but not always) "sticks" to the gripper, and it is impossible to release it afterwards (in such cases, I've even tried translating the object manually in Gazebo, but I was still unable to take it out of the gripper). This, of course, means that, once the robot grasps the pitcher, it cannot really continue with the task.

This "sticking" phenomenon is illustrated in the figures below:

The pitcher also has another problem, namely it seems to be a bit too light: whenever the robot approaches it from the side, it knocks it over (even though it's not making a large impact with the object).

Have you noticed similar issues before and what would you suggest we do to mitigate them?

Thanks!